Yeah Halo has really good music. I really liked 1 & 2. Mario games have good music too. I really like it. The music on the Mario games make me laugh a little.
The Dynasty Warriors games had a great soundtrack. Proper rockin', Halo has a wicked music too. Armoured Core (on PSX, yep, nostalgia right there) had cool music, inbetween the bit music and proper soundtracks. Was like an retro eargasm.
Battlefield Bad Company has good music. well not really good but its really funny when your in an intense battle and you hop in a tank and start rockin out. then your squadmates say funny things sometimes. so i think the music is just at perfect times.
so a game that has some pretty good music to me is GTA san andreas
If we're talking about best soundtracks, then Vice City, San Andreas, and GTA IV definitely have the best soundtracks. Also the Madden games have a lot of great songs, too.
Heavy rain has some good drama music. Sometimes when there's that moment. The game was very sad though. The storyline was good, but just sad how it went.
In my opinion, the Pokemon games have some of my favorite soundtracks. However, to be specific, Pokemon Ruby/Sapphire/Emerald, where the music is the most epic in the series for me.