BloodRain
Knight of Retribution
Ichigo's gets the greatest increase of all Bankais in stats and output from Shikai. His Bankai makes him 2x as fast and around 3+x as powerful. Bankai gives the lowest boost and is safe, other Bankais gain a higher level of their ability but don't amp the character physically as much as Ichigo's.
Sage mode makes Naruto 4x faster and 5x as powerful, is much more durable, can sense chakra and extra range in his melee attacks. Though he gains a limit on his Rasenshurikens use and has a has a relatively short time limit and needs clone reserves to make it useful in combat, doing so limits how many clones he can make.
Kaiokenx20 increases Goku's speed and power by 20x. Drawbacks is that it lasts for a extremely short while and heavily damages the body, more so for higher levels with the risk of death with the highest level. Kaioken gives the highest boost but has the most limits and dangers.
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Which one is better depends on the usage. Bankai for the endurance of a long fight, Kaioken for an emergency situation, Sage mode is a balance between the two. I'd say Sage mode for being more useful while not that detrimental.
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For the best of their full power boosts; Full Bijuu mode > SS3 > Final Getsuga Tensho.