Try George R.R. Martin’s A Knight of the Seven Kingdoms! While it is grim like all of Martin’s A Song of Ice and Fire novels, it has a more lighthearted feel to it than the main series. It’s a compilation of three short stories that take place 90 years before the events in A Game of Thrones. They follow the adventures of Dunk and Egg as they traipse their way across the Seven Kingdoms, finding lords that require their services in exchange for money and housing.