Rose Tyler

Rose Tyler gets +1/+1 for each time counter on it.
Bad Wolf — Whenever Rose Tyler attacks, put a time counter on it for each suspended card you own and each other permanent you control with a time counter on it.
Doctor's companion (You can have two commanders if the other is the Doctor.)

The Tenth Doctor

Allons-y! — Whenever you attack, exile cards from the top of your library until you exile a nonland card. Put three time counters on it. If it doesn't have suspend, it gains suspend.
Timey-Wimey — {7}: Time travel three times. Activate only as a sorcery. (For each suspended card you own and each permanent you control with a time counter on it, you may add or remove a time counter. Then do it two more times.)

Sarah Jane Smith

Whenever you cast a historic spell, investigate. This ability triggers only once each turn. (Artifacts, legendaries, and Sagas are historic. To investigate, create a Clue token. It's an artifact with "{2}, Sacrifice this artifact: Draw a card.")
Doctor's companion (You can have two commanders if the other is the Doctor.)