I had to vote Picard. It's hard for me to pick a favorite among the TNG grew since I grew up with them, but I always thought Picard was very noble, heroic, and admirable. My second choice would have probably been Data.
Agreed, Picard was one of those characters that could seemingly handle any type of situation, no matter what is was. My second choice would also have been Data, i used to really enjoy watching him trying to undertand human behaviour, especially the episode where he worked on his humour with the comic, classic.