How to raise good hearted humans

Hey mamas. Was just curious if it’s possible to raise your child(ren) to be the best version of themselves by certain actions we use as parents? For instance, my mom and I have NEVER been eye to eye. She’s done what she could to be keep me alive, but how much could expect from a child (herself) raising a child? Also, as I was growing up, I promised myself to never have kids as I feared of having them resent me. And now here I am, having children young; unintentionally repeating history. My mother is extremely verbally abusive, but I’ve told myself to never shout at my children. And I haven’t, I’ve had a stern voice sure. But I’ve never emotionally or mentally attacked them. So I was wondering if anyone has gone through the same and if it’s possible to raise good tiny humans even if you never came from a healthy environment yourself? Just, food for thought.