The largest class of morphisms which takes smooth points to smooth points is local complete intersection morphisms. Indeed the property of being smooth is an open condition, so if source and target point are smooth then the locally the map of varieties is a map of smooth varieties—and any map of smooth varieties is local complete intersection.
(You can prove this factoring the morphism $X \to Y$ through its graph in $X \times Y$—a closed embedding of smooth varieties is always a regular embedding so your map $X \to Y$ is factoring a regular embedding with the smooth projection $X \times Y \to Y$.)
As noted a local complete intersection morphism takes smooth points to smooth points, so that is the complete characterization.