I've seen a video about that experiment, and I was shocked that the "teachers" did that without much questioning the authority of the researchers.
The German army today tries to use a concept they call "inner ledership" (Innere Führung). Part of it is that any soldier can refuse to follow an order of he thinks that it is against human rights. But if he decides to follow the orders, he is just as resposible as the person who gave the orders. It sounds good in theory, but I think it wouldn't work very well in war. But at least it can make the soldiers think and not just sit back and have others decide for them.