The $29.99 all-metal desktop Stirling engine kit is one of the simplest. It can be assembled in 15 minutes and is recommended for ages 14 and up. Also for $29.99 is the Exploring Kid Steam Engine Kit.
But there’s just something riveting about watching a solenoid engine work. If you want to build one of your own and see for yourself, [Emiel] aka [The Practical Engineer] has a great how-to.