The closest I've found so far: "Voyage from Yesteryear", "Stranger in a Strange Land", and "Men Like Gods".
EDIT: To clarify what I mean by "advanced morals and ethics": perhaps something along these lines (lifted from a friend's cork board):
An increased tendency to let things happen rather than make them happen.
Frequent attacks of smiling.
Feelings of being connected with others and nature.
Frequent overwhelming episodes of appreciation.
A tendency to think and act spontaneously rather than from fears based on past experience.
An unmistakeable ability to enjoy each moment.
A loss of ability to worry.
A loss of interest in conflict.
A loss of interest in interpreting the actions of others.
A loss of interest in judging others.
A loss of interest in judging self.
Gaining the ability to love without expecting anything in return.
Foundation series is a famous one that comes to mind, but plenty of other examples in that set. Enjoy!
I see moral advancement quite differently - to me, it is embodied in the Christian's credo of "love others as much as you love yourself" (also covered in your last sentence, which is unlike the others). It does not make life easy, "connected", enjoyable or worry-free - quite the contrary, it's often hard and unpleasant. The moral improvement of humanity (and the highest ideal of Christianity and probably some other religions as well) would mean that we're willing to do it for others in spite of it not being at all comfortable. So far, I don't think we've made any progress towards this ideal, which probably means that it's just not in our nature...
At least it tries to question certain aspects of our (historical) societies
There's a heavy Christian theme to them, but if you're okay with that, C.S. Lewis's Space Trilogy really dives into ethics and morals. The aliens we meet in the first book have no conflict, an interesting view of death and art and literature, and live in harmony with their planet. They are quite interesting books and give some of the most vivid, most alien characters and settings that I've ever experienced.
I'll second Star Trek The Next Generation as well.
Stanislav Lem's Return from the Stars comes to mind, though the pacifist society is alienating, seen through the eyes of the main character.
Michael D. O'Brien, Voyage to Alpha Centauri: A Novel
Oxanna Hope, Lebenstunnel: Allégeance (French language)