We design and install all forms of heating systems for garages, but most of our work is radiant floors. The tubing is the least of most installations. The cost is in the heat source and controls. Naturally, the bigger the building the smaller the cost of boiler and controls vs. tubing.
As for radiant floor heat vs. forced air...usually the cost will double. The reason is comfort, operating cost and other features such as sealed combustion and near silent operation. You also have the versatility of choosing or changing your fuel choice from say oil, to propane, or wood, coal, pellets, corn, electricity, waste oil, cooking oil, or even plain old natural gas.
As with insulation, generally the more you pay, the more you save.
The cost per square foot is highly dependent on size, but generally our systems run from $5 to $20 per sq/ft installed. When in doubt, tube it so you can change your mind later or sell the garage at a premium as it will be "Radiant Floor Ready"®