Well, if you go by the original fairy tales … the characters seldom had names.  They just used their job titles.

If you go by modern fairy tales … they just use regular names.  So just use a "name book" and pick out some names you like.

An interesting way to choose could be through name meanings.  For example, my real name means "beloved."  Think of the strongest trait for each character and find a name with that meaning.  Here's a website to help you out.

http://www.meaning-of-names.com

Have fun and good luck!