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Sharpshooter: Aim
Grenadier: Move or conditioning
Ranger: Move, conditioning or dodge
Specialist: Any
Psi Op: Will
Reaper: Aim or move
Skirmisher: Move or conditioning
Templar: Move, conditioning or dodge.
Also if you're lucky you could get the breakthrough that lets you recycle PCS.
Everyone else: Aim
Like, honestly, the health PCS are only good early game, in late game there are better options...
Anyway.
Demolition grenadier (the one who throws grenades) - speed so that he had easier time keeping up with the team and picking good positions to abuse Salvo in late game with heavy armor on.
Heavy gunner (grenadier who shoots things and shreds their armor) - perception (accuracy). Combine with spider / wraith / viper armor so that he still had enough mobility on the battlefield to pick good shooting positions.
Sharpshooters - perception, always perception. Maybe speed for gunslinger, but he still needs that accuracy too hit things with his pistol.
Specialists - pretty much anything. Although i recommend to provide the hacker (agressive specialist) with heavy armor combined with speed.
The medics... Either accuracy to hit those guardian overwatch shots, or health / will so that they themselves didn't die. Speed doesn't matter because i always give the medics Icarus armor.
Oh and focus (will) for psionics.
Just put it into them when they reach maximum level, or the character will hit the will cap sooner and wont earn more will, wasting level ups.
Templar: Move - None of the others are really useful for them.
Psi-Op: Will
Everyone Else: Aim - Especially, grenadiers in order to shred armor.
Although, if you're playing WOTC and don't DLC out the Brutal (bug?) for Will. You may end up giving a few of your soldiers Will PCS.
In Xcom 1, it was based on Will, not so in Xcom 2
Edit: yeah will on psi is almost useless :/
Perception is the second best, sharpshooters get the priority for that.
Conditioning and agility are okay, but the way this game works, defense is not as important as offense.
Focus is not important at all. I see that some people have suggested focus for psi operatives, but will does not have any effect on their abilities. It just helps against psionic attacks, which are very rare and tiredness, which is not much of an issue.
Nope. Will only matters when being attacked with Psi.
Put Perception on your Psi Ops instead. Put Perception on everyone except Rangers & Templar, who get more bang out of Mobility.
Rangers, Skirmishers & Templars - Dodge
The rest - AIM