Often seen
Police:
None more than Lestrade,
Peter Jones ("The Red-Headed Club" , I always felt that he had appeared in other cases, but I couldn't find it)
The other is Graham in "A Study in Scarlet", and the other is mentioned in later cases, Holmes particularly appreciates him
Others:
Holmes’ brother: Mike Loveck ("The Case of the Greek Translator", "The Last Case", "The Empty House")
Landlord: Mrs. Hudson ("Naval Agreement", "A Study in Scarlet" and "The Spotted Tape" appear in many cases)
Baker Street Squad ("The Sign of Four", "Barbarian" "The Hounds of Screville" are all mentioned)
Peanut's wife "The Sign of Four", "The Disappearance of St. Laker"