Well you may want to go and watch Firefly entirely for the characters. I have never seen a more likable and funny group of characters on anything. It happens to be science fiction, but that is not really the reason people watch.
It is hard to explain what makes it so good, and it seems to be a cursed show in that nobody ever listens to other people's recommendations of it. It is just something you have to one day stumble upon and kick yourself for not checking out earlier. Like I did