Capital One 360 Checking. It does not charge you to use any ATM in the world, although you have to pay surcharges imposed by the ATM owner. My understanding is that most ATMs in Israel do not have surcharges, so it should be free on both ends.

There are some banks that rebate ATM surcharges, such as Schwab, but those require opening a brokerage account with them, so probably not worth it unless you are traveling to a country where surcharges are commonplace.