While it's got perhaps the strongest lineup of supporting characters of any Zelda game, my favourite (spoilers) person in Wind Waker is the King of Red Lions.
He's so gruff, yet helpful, and impatient, yet so patient, and it helps he's about the coolest-looking boat ever made.
This model is using a papercraft template made by ninjatoes in 2006, one I'm sure we posted previously (but which I can't find thanks to 2-3 redesigns since), but boy these photos sure bring it to life.
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King of Red Lions - Extras [Studio of MM, via Ian Brooks]