While it would be fun to mess around with Bloo, and all, I'd have to say Wilt. We'd get along!
Concerning human characters, it depends. I'm in Frankie's age bracket, so
But then, Mac is more than intelligent enough to be absolutely awesome in casually hanging out, too.
And finally, I would hug Madame Foster. I'm secure enough in my masculinity that I'd basically smother the poor old lady. I love grannies by nature.