Instantiating an object during the game is fine as far as I know. I beleive Unity handles making sure you don't reload the model every time, but instead just adds a new character to a list of objects. That code you found should work above.
I don't know if you want to use it with respawning a character though, but instead resetting the player information (such as health), then moving them to the spawn point. (Unless you are restarting pieces of the level as well). However, spawning a new enemy at a spawn point with that should be perfectly fine.
EDIT: Just saw your edit. (That code is Javascript, not C#).
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