Some people may be surprised by this answer but… Homer Simpson.
He is far from perfect, but I think what he lacks in brains he makes up for in heart. He ultimately does really love Bart despite him being a brat and wants him to be proud of him and wants to do what’s right for his family. It’s a trait that is all but gone in examples like Stan Smith or Peter Griffin, the latter especially is just Homer but without the sympathy.
While he may not be the “best” TV Dad, he certainly tries harder than any dad I have seen.
Homer is at least probably the best dad character even if he isn’t the actual best father.
Mike Brady- The Brady Bunch
Cliff Huxtable- The Cosby Show
Phil Dunphy & Cameron Tucker- Modern Family
Homer Simpson- The Simpsons
Luke Danes- Gilmore Girls (more for Rory & Jess than his actual kid April)
Mike Heck- The Middle
Jed Bartlet- The West Wing
Tim Taylor- Home Improvement
Dan Connor- Roseanne
Frank Barone- Everybody Loves Raymond
Rogelio De La Vega- Jane The Virgin
Tony Micelli- Who’s the Boss?
Jack Pearson- This is Us
Archie Bunker- All In The Family