Haven: Tears - Kilburn, Blood - Valeska (from the third mission).
Necropolis: Tears - Kaspar (from the beginning of the third mission), Blood - Lyudmila (when you complete the quest about the orcs).
Sanctuary: Tears - Tiangbo (when you complete the quest about him), Blood - Coral Priestess (I don't remember the name and don't know when she joins).
Stronghold: Blood - Akamas (after joining the cyclops in the second mission), Tears - probably Airini, when you complete the Tears quest in the second mission.
Inferno: Blood - Wayer (if you choose the Blood option when freeing him in the second mission), Tears - one of the succubi (at the beginning of the third mission). Ple-Sen wrote that you can get both, probably if you choose the Blood option in the second mission, but follow the Tears path.