Torment was indeed filled with excellent NPCs - Fall-From-Grace, being a recruitable companion, probably doesn't count as 'minor' but I was especially moved by her promise to search the Lower Planes for the Nameless One's soul in the 'best' ending of that game. (Excellent setup, I thought, for a potential sequel centered around her finding out what happened to Nameless and why, and attempting some manner of rescue even if the best that can be done for Nameless' soul is total oblivion... but alas, there isn't much market for games starring a fully dressed, chaste succubus.)
A more recent (so new I haven't played all the way through the game yet) freeware NPC who deserves some love: The starting city in Heroine's Quest: The Herald of Ragnarok includes a little boy named Heime who is usually seen practicing with his wooden sword (I spotted him 'dueling' a snowman in the street once, even) and often talks about how he wants to grow up to be a great warrior... and if you happen to be playing a warrior, he'll talk about being strong and brave like you. Heroes deserve a little hero-idolizing now and then, don't they?