I have a 30 X 48 barn with radiant floor heat. I keep it at 55 out there all winter long. It's wicked good. System basically consists of a gas-fired tankless HWH, a pump, and 1400' of pex tubing. The impact on my gas bill is tough to define, because I am heating my house and barn and my bill is averaged to the same amount every month. When I first installed it, I didn't have things adjusted right, and was missing the insulation on one wall. My gas usage was BIG. Once I finished the insulation and dialed things in, my gas usage dropped literally to within $10 of where it was before.
One problem for you is that I put all the tubing in the floor when I poured the concrete. No good way to retrofit an exisiting garage. No idea if the results would be anywhere near as good with baseboard radiators.
Your experience will vary...