Pleased that Crysta, Itory Village, Fisherman's Horizon, Phantom and a Rose, Frontier Village and Imprisoned Town have already been mentioned.
I tried to restrict my list to a select few, but...well, I like a lot of town music, and these deserve to be heard.
Peaceful People - Suikoden
This shouldn't work, but just
does. The jaunty melody, varied instrumentation, and weird synthethised warbling combine to create a wonderful theme that I consider one of the standouts of an already amazing soundtrack.
If You Listen Carefully - Suikoden II
A town theme that's somehow soothing, dreary, and melancholy all at once. It's a perfect fit for the few places it's played in (sleepy port towns and rural trade outposts), and the first time the player hears it is right after one of the most dramatic, intense sequences in the game, making it almost a comedown track for the events that preceded it.
Wind and Ground - Suikoden III
This one is only heard very briefly, and early in the game, which is a shame as I love the melody and tribal instrumentation. The sequence starting at 1:10 hints at the epic and turbulent times ahead for certain inhabitants of this village.
The Godwin Family Castle - Suikoden V
Though the title suggests otherwise, this particular version is played in a town. It's a perfect mix of pomp, bombast and pride, so fitting for the Godwins.
Dance with the Balamb Fish - Final Fantasy VIII
I consider VIII one of Uematsu's strongest soundtracks, partly because of how well each track is matched to its corresponding area(s). This theme has a refined, European air, rendering it a perfect fit for the Paris-inspired Dollet.
The Royal Capital of Rabanastre - Final Fantasy XII
Sakimoto really couldn't have come up with a better theme for a huge, bustling hub of activity like Rabanastre.
The Streets of Whiterun - Skyrim
I just can't find words to describe what this piece inspires in me. Just a beautiful melody.
Yet the Merchants Will Go - Breath of Fire IV
Lively, energetic and Eastern-inspired. It makes me think of children running through a crowded marketplace (which is fitting, if you've played the game).
Scenery Called 'Everyday' - Wild Arms 3
Whenever I hear this one, it gets stuck in my head for the rest of the day. Love the Western flair.
Bowerstone Market - Fable 2
Ugh, the hours I spent in this town, just watching the interactions of the insanely fickle NPCs and digging up condoms and rotting meat pies. This theme adds to the ambience and the hustle and bustle of the town square, as well as being the perfect soundtrack for the game's goofier moments.