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I use a modine hot water hanging heater, off the house boiler, I install a force air hot water air handler in the house with a boiler so I could better control my gas usage. The system is a water and glycol (anti freeze) system. Works good, as long as your garage is insulated good.
I have a hanging Reznor on natural gas in a well insulated garage, works great.
I don't generate enough waste oil to mess with one of that type so like Dave I have a ceiling mounted natural gas fired heater. It's a 55k btu Hot Dawg unit. Does a fine job in about 1700 sq. ft. with 8' ceilings, well insulated.