Which Medieval Empire was the most successful?

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If any of them were successful they would still be around wouldn't they? lol

Getting serious, it depends on how you wish to measure it, it's population, their landmass, their impact on the modern world and their legacies are common ways to measure an ancient empire.

Most people would probably say that the Roman Empire was the most influential empire of all time and they might be right if you only take into account western civilization.

In the middle East as Islam rose to power, many caliphates helped develop the early sciences, especially math, for example, Arabic numbers and the abacus come from Islamic empires during the golden age of Islam.

If you go south east, the Mughal Empire in India also spread out a lot of technological advances to the west and further east you've got China and their vast silk road that help spread technology, food and sciences across all Eurasia.

Depending on what you consider ancient, the Mayan and the Inca empire where at some point really powerful too and if they hadn't been wiped out by disease, maybe their legacies would be stronger in South America.