In VOY: Prime FactorsVOY: Prime Factors the crew answer a distress call from the Sikarians. They turn out to be extremely friendly, bordering on Risian.
In VOY: The 37'sVOY: The 37's the crew answer a distress call and find various preserved humans. Despite a slight misunderstanding with the planet's inhabitants, they turn out to be entirely friendly.
In VOY: LifesignsVOY: Lifesigns the crew answered a distress call from a Vidiian scientist. She turns out to be benign and doesn't attempt to steal their organs.
In VOY: MacrocosmVOY: Macrocosm the crew answer a distress call from a Garan mining colony regarding a medical emergency. When they arrive, the find that they're actually suffering a medical emergency.
In VOY: Unimatrix ZeroVOY: Unimatrix Zero a group of Borg drones request that the Voyager render them assistance (via Seven-of-Nine). They don't seem to have any ulterior motive other than wanting freedom from slavery.
In VOY: Nothing Human the ship responds to a distress signal from a wounded alien. Although it appears to have attacked Torres, it turns out that its unaware of the damage it's causing to her. "Federation values" is a tricky one with this one since we don't really learn anything about the alien but its comrades seem benign.
In VOY: JuggernautVOY: Juggernaut the crew render assistance to a Nalon freighter. Although the crew have essentially brought it on themselves by dumping waste without a permit, they ultimately accept that they've done wrong and embrace Federation values of tolerance.