Orange and East Orange you probably wouldn't want to live in. The towns are unfortunately not gentrified and are a bit rough.
South Orange or West Orange are fabulous communities (we live in South Orange). South Orange is very closely aligned with Maplewood (two towns, one community). Both are very easy to commute to Newark. South Orange has I want to say a slightly larger Jewish population (there are 3 synagogues in town) and there are those that walk and those that drive (forgive me - I'm not Jewish, but we live near one of the synagogues). Both towns have really cute downtown areas, incredibly diverse populations (for a while we were the only white, heterosexual couple with children on our block) and are very welcoming to newcomers. We get A LOT of transplants from Brooklyn. Bonus here is that you can walk to the train into NYC to get the city feel in 30 minutes. Downside is the taxes. They're high. But a really good mix of SAHPs and WOHPs (we do have a fair number of dads that stay home, as well as many two dad or two mom families).
West Orange I honestly don't know much about, other than we have friends who live there. It seems to be a series of gated communities, a bit more suburban, but lower taxes due to higher numbers of commercial properties.
Livingston might also be an option, but it skews a bit more .... Real Housewives of NJ. And a bit more...suburban (by which I mean large yards with fences around the back, and everyone seems to get in their car, drive where they want and come home). You have to drive everywhere. As does Short Hills (which is part of Millburn). Millburn is nice, but the schools are INCREDIBLY competitive. Taxes are lower, but housing prices are higher. But similar to M/SO in the cute downtown part, close to Newark, close to trains.
I think you have to go pretty far south of Newark to get a town that you would want to live in. Cranford might be an option. If you go west (out Rte 78 if you're looking at a map) just know that commuting on 78 is horrendous because it's one of the main arteries into NYC.
Montclair is a wonderful community very similar to M/SO, but as noted, skews a bit more wealthy. I think it would be a trickier commute into Newark, but not impossible.
The hyper-local sites for Maplewood/South Orange is maplewoodonline.com (if you go to messages and click on latest discussions, you can search for 'moving to' and get a ton of additional information about the two towns as well as West Orange and Millburn, including realtors). Montclair's hyper-local site is baristanet.com (I do not use it so I can't say if it would help you or not). No idea if there are similar sites for any other towns around here.
Good luck - and welcome to NJ!