Option-click on the Green window button will give you almost full screen preserving the menu bar and Dock. Repeat the Option-click to return the window to its original size and location.
If System Preferences -> Dock -> [X] Double-click a window's title bar to [zoom] is set, then you can double-click on a window's title bar and get amost full screen, preserving the menu bar and Dock. Repeat the Double-click to restore the windows size and position. Not all windows will go almost full screen, and some will just grow the width or the height.
Finally, when in Full Screen mode, pushing the mouse cursor to the top of the screen will often show the menu bar and the window's title bar along with the Red, Yellow and Green control buttons.
Personally, I'm with you and do not like Full Screen mode.