Memoir 44 is very good.
Don't know that it's like Panzer General though (haven't played PG).
For figure games, we play quite a bit of PBI (from Peter Pig).
Based on squares rather than hexes, but you could probably use hexes.
Aimed at games that are a reinforced infantry company in strength.
There is a simple taster set (the very barest part of the rules) on the Peter Pig site