It's hard not to answer this without it seeming like bragging, so I apologize if I come across that way. But I've got two teenagers that are excellent human beings so I'll tell you what I have done that most people I know don't think about.
Be mindful. Everything with your kid is an opportunity to talk, pass on a lesson or shape them in some way. Don't miss those opportunities.
Don't think of yourself as raising a kid. If that's the finished product, you're doing it wrong. You're raising an adult. I've never accepted that a child can act badly or irresponsibly because of their age. Young age just means that they lack the experience to know how to act properly and it's the parent's job to tell them and tell them why. For example, a frustrated child throwing a tantrum doesn't need parents to make him feel worse, he already feels like crap. He needs to be taught how to deal with his stress. Take him aside, have him take a deep breath and talk it out. Like an adult would.
Teach life skills starting very young. Take the kids grocery shopping, menu plan with them, give them age appropriate chores. Coach them on how to talk to a doctor, teacher, store clerk etc and stand by them while they ask their questions, prompt them if there's more questions they need to ask.
Get them to help with cooking and cleaning starting from the age of two. If you wait until they're 12 and suddenly expect help around the house then it seems like a big effort to them but if they have always done it, it's natural.
Manners. Manners are talked about openly and always. Including the effect good and bad manners have on other people.
When they have a conflict with another person, talk/coach them on other ways they could have handled it. Do a little role playing.
Think, really think, about the kind of feedback the kids are getting. If its heavy on the negative, turn it around, even if that means setting them up to succeed so you can praise them. Mostly tell them when they are being great and tell them why. They'll keep up the good work.
Touch them eight times a day. I count because I'm not a hugger but I read that kids that don't get "positive touches" are more easily manipulated by the false affection of others and 8 is the magic number. Squeeze a hand, touch a shoulder, hug, kiss the forehead. Eight times a day is supposed to be the magic number.
I try and make sure I'm continuously improving myself. Talk to them about my own goals and let them see me working on them. Being a better person is a way of life. *Apologize. I screw up. I get in bad moods. I make bad decisions. And I apologize and explain myself because I respect them. Now they do the same to me (especially when they have a case of the moodies)
Sorry this is so long. I have more but if you made it this far then you're probably sick of reading.