Favorite E3 is probably 2006 though I'd say 2010 was solid as well. Mostly speaking from Nintendo's perspective. Also fond of 2011, 2013, 2014, 2017 & 2018. 2019 & 2021 also weren't too bad, as well as 2005. 2001 had the iconic Melee debut.
As for favorite E3 moment, I'll let this video speak for itself: https://www.youtube.com/watch?v=VE2Dc1sx71U (by the way, it's really touching that the video starts with "Thank you, Mr. Iwata", even though it is entirely unintentional from his death)
It's a shame Nintendo stopped doing live press conferences for E3 because we missed so many potential freakout moments. Admittedly, the freakouts are what help make a moment the best in my opinion.
BTW, how do I get it to display the video in the post like other people are doing?