I'd go for Baldur's Gate. Planescape is one of my favourite games of all time and I think Baldur's Gate 2 is a more compelling story experience than BG1 by modern standards, but since you're asking this question it appears that you're interested in the D&D setting and rules as much as you are interested in the games themselves. With that in mind, I think Baldur's Gate (fully enhanced with BG Tutu mod, some fixpacks and a widescreen mod) is the best out of any of these games for introducing you to the fundamentals of the world, without compromising on depth and non-linearity.
Planescape's combat is inferior to BG and its class system is only a really simplified version of what you usually find in D&D. Baldur's Gate (the first) gives you a breadth of free choice over who to be, where to go and what to use. While playing it you can look forward to the greater polish of the sequel, with its superior storytelling and dialogue, although Baldur's Gate 2 compromises on some of the non-linear world exploration aspects in comparison to its predecessor.
Icewind Dale would be a bad choice. I can't speak for the second game, but I've tried to get into IWD1 time and time again and failed to make much progress. It's just an unforgiving combat slog, minus many of the more interesting overarching story elements. In all probability any one of BG1, 2 or PS:T will kick your arse at low levels since they don't make allowances that modern gamers are used to. IWD assumes you're cool with this and does it harder.
I haven't played ToEE or NWN, but I hear parts of NWN2: Mask of the Betrayer are up there with Planescape in terms of writing.
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