If by "good", you mean overall best quality with a focus on cellular performance, audio quality, design, and quality... I would say hands down Motorola.
They tend to lag in features a bit, but as someone that spends too many thousands of minutes a month on a mobile, I'm willing to live without the newest megapixle camera or mp3 player function.
Moto has had their flubs here and there, but overall I think they are putting out good stuff these days. I'm very much looking forward to the Moto Q phone.