Michelangelo

Michelangelo was a 16th century human artist. The Doctor described him as a whiner but also seemed to be friendly with him, once calling him Mikey. (DW: Vincent and the Doctor, WC: The War of Art)

Biography
In 1508 Michelangelo began working on the Sistine Chapel. Michaelangelo was revealed to have been afraid of heights, to which the Doctor, who was present at the event, replied that he should not have taken the job. (MA: Managra, DW: Vincent and the Doctor)

At another point, he did a portrait of the Doctor. (DWM: Changes) Momus abducted him for its dinner party while he had a model in his studio. (WC: The Lonely Computer)

An android copy of Michelangelo, containing his memories, was placed in the Paloma Centre. The Eleventh Doctor used his sonic screwdriver to control it into attacking the invading Arucha. The android moaned about attacking the group of Arucha, asking if he had to, to which the Doctor told him he had to. (WC: The War of Art)

According to one account, the Tenth Doctor claimed that he had never met Michaelangelo. (NSA: The Stone Rose)