Ogionik,
There are usually several "Stirling cycle" motors on display at antique steam engine shows and meetings. I attended one in Berryville Virginia some years ago. They generally used a candle to power an overhead fan using air as the working fluid.
Most of these designs use heat to expand or vaporize a "working fluid" and then transfer the gas to a cool side where it contracts (or liqufies) with a piston or diaphram in between. Sometimes the piston itself carries the fluid about.
Somebody also had one powering a Datsun down in Arizona twenty or so years ago.
It had a rooftop "collector" and an underbody condenser.
The Newcomen steam engine used a similar principle by putting water into a cylinder and then heating it , venting the steam, and replenishing the cylinder with cool water.
Keep looking, they are kind of fun