Macbeth is certainly jealous of Banquo's prophecy that he will father a line of kings though he will never be king himself, so Macbeth orders the murders of Banquo and Banquo's son, Fleance. Macbeth says to himself,

Our fears in Banquo
Stick deep, and in his royalty of nature
Reigns that which would be feared. (3.1.53-55)

In other words, Macbeth is jealous of Banquo's disposition and character. Banquo seems kingly, and he is brave and wise and loyal. Further, Macbeth is jealous of Banquo because Macbeth has no heirs of his own, and Banquo does. "No son of [Macbeth's]" will succeed him, unlike Banquo, whose descendants will, he is told, go on to become kings (3.1.69). Macbeth, in fact, is jealous of Banquo for many reasons.

I think we might interpret Macbeth's actions against Macduff as evidence of his jealousy as well. Macduff is also quite noble, like Banquo, and he has several children of his own. When Macbeth grows angry with Macduff, he arranges for the murders of Macduff's wife and children, as if he wants to deny Macduff the opportunity to live on through his children. He says that he will kill "all unfortunate souls / That trace [Macduff] in his line" (4.1.173-174). When Macduff learns what Macbeth has done to his family, he remarks that Macbeth has no children of his own, as if he believes Macbeth wanted to likewise deprive him.