If you already have a forced air gas furnace in the garage (I assume it is for the main house) why not tap a duct to the garage. You can install a manual grille damper for times when you don't need heat. A drawback is that it will only run when the main house is calling for heat.
The next level of complexity would be installing a diverter damper in the main supply duct that diverts a major amount (but not all) of the furnace heat into the garage grille (no grille damper). Then install a second over-ride thermostat in the garage. This diverter damper can be electrically operated and tied into the over-ride thermostat.
Either of the above methods require that you make provisions for return-air back to the air handler.