In 2005, the House voted on the Hinchey Medical Marijuana Amendment, which would have kept Dep't of Justice funds from being used to prevent various states from implementing laws authorizing the use of medical marijuana. It failed, 264-161, but that link I just gave you has the vote breakdown, so you can look up the names of the 161 "aye" votes (145 of which were Democrats).

It's not ending the Drug War, but it's something.