I’ll second this with the addition of just about every other role Scott Bakula does. I genuinely believe he is a legitimately nice guy guy and it shows in his roles.
(DISCLAIMER - I’ve never seen Men of a Certain Age before. For all I know he’s an abominable jerk there.)
never mind, someone else mentioned superdickery
One (Hartnell) and Six (Colin Baker), too.
And Nine (Eccleston).
Seven (McCoy) had some good moments, too.
Haven’t seen enough of Two (Troughton), Three (Pertwee) or Five (Davison) to say. Eight doesn’t have enough canon appearances to really say (seems generally nice enough in extra-canonical appearances, however).
Honestly, I’m not entirely sure where the idea that the Doctor being a dick is a rare occurrence came from. It’s certainly not even new for the Doctors of the new series.
Even the stated example, Ten (Tennant) was pretty nasty a lot of the time - he actively tried to be a nice guy, but there was too much of Nine left in him. He was little better to Mickey than Nine was. The way he treated Jack was truly assholish. The way he dealt with the Family of Blood was a pretty impressive case of poetic cruelty. He was awful to Jenny for most of The Doctor’s Daughter - even ignoring his haranguing her over being a soldier, rather than attempting to guide her, his refusal to even acknowledge her as an actual being right from the start was a major case of being a dick.
From Night Court
Bull Shannon
Christine Sullivan
Quon Le
Phil Sanders
Most of the rest of the cast may have had a few dickish moments.
Dan Fielding, on the other hand… 
Well summarized. I also haven’t seen enough of Two to be really sure. He could be maddeningly exasperating, though, and knew that he was. I suppose that is its own kind of dickery.
Three could be officious and stuffy. Two and Three both could be patronizing.
“Can I be of help?”
“Yes. Pass me that silicon rod, would you?” (Uses it to stir coffee while casually thinking about the dire problem.)
Five was always a nice guy. You know, I think he was the only one that was nice all the way through. Ten was trying. Five just was. The rest were kind and good, but high maintenance in one way or another. I’ve heard that Six was supposed to mellow, but got cut off before he could.
The Lone Ranger
Bill Cosby would disagree. 
Andrew Vachss’s Burke is not a dick. A psychopathic vigilante, but he does treat people as they should be treated.
Captain Picard
Also, Coach.
Radar O’Reilly
Picard is constantly a dick to Wesley. He deserves every bit of it, but Picard is definitely a dick.
The Big Bang’s Sheldon Cooper is never intentionally a dick, simply because the concept is alien to him. He does have his unintentional moments of dickdom.
I vote that Wesley-induced dickery doesn’t actually count. That was provoked. Even Jesus and Ghandi would have smacked that sanctimonious twit around.
However, if you’re going for non-dicks, the cast of ST NG is a pretty good place to look.
Riker is usually quite kind and generous (which I find odd, sometimes). Occasionally he darts people, but he’s a pretty nice guy overall.
Guinan is also pretty un-dickish.
Same for Geordi.
In the first ten or so seasons, yes, but in middle to late seasons he went from just being a really friendly guy who was also Christian to Christ Guy. Things like the evolution episode, gay marriage episode, etc…he became the kind of Christian that moralizes all the time and makes all the other decent Christians look like dicks.
Not quite an abominable jerk, but not as good a person as he came off on Quantum Leap or Enterprise. He plays a late 40’s guy who had a couple of minor, but memorable, acting gigs, and uses what little fame he has left and his younger (compared to his best friends, at least) looks to get girls half his age.
Father Mulcahy too.
Aww, poor Wesley. I don’t get the Wesley hate, incidentally I don’t think Wesley was a ever a dick.
Patera Silk, of Gene Wolfe’s Book of the Long Sun
Oh phooey, you beat me to it. 
I dunno 'bout that; cursing the fig tree seemed kind of a dickish move to me.
How are we defining “dick” anyway? You mean someone who never jerks people around merely for the sake of jerking them around?