I don't know exactly what your budget is, but you might consider a permanantly mounted natural gas garage heater.
Of the types you mentioned, I would go with a propane torpedo type heater. I use one frequently on jobsites in cold weather. Propane is a pain to deal with due to the size of the bottles if portability is a concern, but it has far less odor than kerosene. Both propane and kerosene can get expensive in a hurry, but propane is a lot cheaper this year than last.
Another option if you have a detached garage is a small pellet stove. These are very efficent and wood pellets are fairly inexpensive. The downside is you must vent the heater to the outside and the initial purchase can be costly.
If you can afford it, a permanantly installed garage heater running on natural gas will be the cheapest to run in the long term and give the best results overall.