Among hydrogen, helium and carbon dioxide, which gas would behave most like ideal gas and why?
In the simplest model, a gas is called ideal when its particles are point-like (no volume) and have no interactions. Real gases behave like ideal gases at low pressure (where the particle volume is neglible compared to the total volume) and high temperature (where condensed phases, i.e. interatomic or intermolecular interactions are disfavored).

The size-comparison between helium and dihydrogen is straightforward: Dihydrogen is larger. As for the strength of interparticle interactions, we can compare normal boiling points: Helium's is 4 Kelvin and dihydrogen's is 24 Kelvin.

So this would suggest that helium is "more ideal" as it has the lower boiling point and the smaller size.