It's an unusual entry for an RPG, but my all time favorite RPG has no swords or spells at all -- only spaceships. Star Control 2 was an ingenious romp through space, collecting minerals and interacting with a rich universe full of aliens (some friendly, some not). Sadly, the sequel was a complete bastardization of the goodness of #2, and any further development on the line stopped with #3.
An excellent game. My only gripe was that there was a timer you didn't know about that led to a universe-destroying activity--and I still wanted to explore! But it was world's above that horrid Legend Entertainment followup. Why they chose that company to make the successor title is beyond me. They'd only produced mediocre graphical adventure titles, before that.