The traditional Summon Night games are strategy RPGs. They usually revolve around you picking a character, answering a series of questions, and then earning a Familiar/Guardian Beast based on your answers. As far SRPGs go, they're rather basic but they usually feature intermissions where you really get to know the characters.
Swordcraft Story and Swordcraft Story 2 follow the same formula, except they're action RPGs. At a glance, they look similar to Tales of Phantasia but they play more like Bad Dudes or Double Dragon.
Twin Age is an action RPG that is touch-only. There are no Familiars that join you. Instead, it's more of a traditional RPG in that story-focused characters join the main character. It hardly feels like a Summon Night game, but there are some fun moments.