Personally, at 5'10" and 165 lbs, I find myself to be a Classic Fit guy because the fit is exactly that... Classic. It's comfortable (but not baggy by any means), classy, and timeless. I'm not really into anything that's got "slim" or "skinny" in its name or otherwise going to hug my thigh.
I really like Polo's Preston Chino or Preppy Chino in their Classic Fit. If you're looking for something slightly lighter in weight, say for the summer, try one of the chinos with "tissue" in the name. These will be a little softer, hence the name "tissue", and makes wearing pants on a hot summer day easier to do (because you shouldn't really wear shorts unless you're going in the water).
Pant Fits - Side
Pant Fits - Back