Can people be good people in spite of moral failures?

Let’s say that another person holds beliefs that you believe are immoral. These are deeply held beliefs, and they come by those beliefs honestly, perhaps through a religion or education. Maybe they’ve been taught those beliefs by their parents. Yet, those beliefs, in your opinion, are wrong and are harmful to others.

Perhaps you are an atheist who thinks that religious beliefs are harmful. Perhaps you are a pacifist who thinks that anyone in the military has made a poor moral choice. Perhaps you are a liberal who believes that any conservative or libertarian opposed to social programs is inhumane.

Can you still think of these people as good people, despite the difference in principles? Could you be friends with someone who does not share your basic beliefs about what is right and wrong? Can you respect a person who holds beliefs that you believe are immoral? If so, how can you do this?