Radiant tube heaters provide a nice comfortable heat, but most are meant for high ceilings in commercial shops. For a regular residential garage you have to get one that's designed for lower ceilings.
Unit heaters are a lot more common for home use. In either case, don't guess on the size - you need to have a heat loss calculation done to make sure it's big enough (or not too big.) If you buy the heater from a regular HVAC dealer they should be able to do the calculation for you, if not there are numerous online calculators where you can plug in the numbers for your application.
If you haven't already done so, make sure you have good insulation in the walls and ceiling, and that the overhead door, entry door and windows are well sealed; otherwise you're just throwing away money on wasted heat.
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