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Historically, societies had very different moral standards than we have now, so there are always some things they did that may seem wrong to us today, even if they were considered 'good' back then.

To answer the question though, Emperor Justinian and Empress Theodora are two of my favourite examples of "good" rulers. They were co-regeants of the Eastern Roman Empire in the 6th century AD.

They certainly had issues, including restricting religious freedom of Jews and Christian heresies, but Justinian, under the advice of his wife, Theodora—who had been a prostitute until Justinian changed the laws so that they could be married—passed laws that protected the rights of prostitutes and heightened the punishments for rape and sexual abuse.

Theodora was known for protecting women and getting them out of prostitution and similar fields of work. She would keep them in convents and churches and even in the royal palace.

Justinian was involved in a number of wars, including fighting against the vandals, the goths, and the persians. He was attempting to restore the Roman Empire to its former power and size, which was certainly ambitious, but it was never realised, partly because of the massive impact the Justinian plague had at the time.

It's actually rather remarkable how much the two of them were able to achieve in their lifetimes, considering that they were fighting multiple enemies on all sides, while dealing with the plague, internal divisions between the Church, and even famously large riots in Constantinople.