The only country with malaria-free safari areas is South Africa. In general the game-viewing is not as good as in the areas where there is a risk of malaria, as that very factor has meant that they have been preserved as wilderness for the longest period of time (e.g. Kruger National Park and the adjoining Sabi Sands). The malaria free reserves are often reclaimed farmland and tend to be much smaller which impacts the game-viewing experience -- there just isn't as much game as there is in a huge wilderness area like Kruger.
However, the game-viewing can be quite good at some of the older, more well-established reserves, and they are very popular with families as the children can then avoid taking the meds. Some of the best malaria free reserves are Kwandwe and Madikwe.
Kwande resort from CC Africa is Malaria Free, and offer a very nice experience.
The property is large and offer better experience compare to other game resorts.
I took my mom who is 70 yo, and we had no problem at all with Malaria orgame drive, etc.
CC africa is one of the main leading safari/game operator in South Africa, and also now branch out to India (colaborate with Taj Hotel and resorts) which show their dedication to move up to luxury market.