TNG was special, even had the action figures.
Voyager is my favorite though. I like the premise of being lost, detached from the usual settings and people. It felt more intimate, closer-knit comradery. To that end, I think Janeway is my favorite captain, most down-to-earth, and always focused, thinking, weighing choices. When she took risks, there was a method to her madness, always ready to tackle the consequences. And when a tough decision was made, she stuck with it.