Although it is made by the same company, and uses the same engine and game system (though an older edition of it) Planescape: Torment is vastly different from IWD2 in that it focuses much, much more on the Story, whereas IWD is more about the combat. So, if it is the tactical, party-based combat you liked most about it, PS:T does have that as well, but it is much less important and also much less challenging, because the main character literally cannot die. You don't write what you did not like about the BG games, but if it was the amount of unvoiced dialogue, PS:T is the wrong game to get.
I don't have any real recommendations, though... I absolutely love all the games with the Infinity Engine (BG, IWD, PS:T) and I would have been totally happy if they had just kept making new games with it... Neverwinter Nights in my opinion is not as good, and you only really command one character.
If you are not too attached too the fantasy setting, though, maybe Knights of the Old Republic is worth a look, though it is very much a kind of Baldur's Gate with a Star Wars setting, but again, I don't know what exactly you did not like about BG. Fallout 1+2 are also classics, but although it is also made by the same studio as IWD2, it uses a different system and has turn-based combat, and although you can have companions, you also only really play one character.