I don't know that anyone really does it quite like Bioware, the Mass Effect games and DA games are really king at that. But as Dylan mentions story based games like Telltale games, Detroit, or even Until Dawn build good stories but are also a very different type of game. One game that I thought did well with relationship and character building was Kingdom Come: Deliverance. It has some romance options as well that you have to take time to build, going on dates and such.