What I love about these series is the overarching plot that isn't too obvious, lots of character growth, and a great mix of comedy and seriousness between episodes.

A show I tried that was advertised as similar was Star vs. the Forces of Evil that was a little too in your face with a lol random personality that I don't really click with.

No restrictions on time period, and feel free to suggest anime if it fits the bill, I just posted in TV as I these aren't anime and I don't have much experience in the area.

I really enjoy Tales of Ba Sing Se. It's really nice just watching them live their lives in the big city. It's somewhat a filler episode, but unlike the filler in Naruto or something, the plot still incrementally moves along and doesn't linger too long on any one character.