I use these:
https://www.homedepot.com/p/Closet-P...5-WT/100003620
They come in a variety of lengths etc. I slide a piece of innertube over the hook to protect the bike. With one bracket, you can hang a bike from its head tube. With two, by the top tube. For compactness, you can remove the wheels, hang them on the bracket, then hang the bike on the hook. If you're using two, you can put a shelf between them for spare parts or tools.
Even keeping a bike just a few inches above the ground lets you sweep under it, if you're doing things in there that generate wood shavings or dirt.
My garage is under the house, and there's no ceiling space where the bikes wouldn't get in the way. The wall space is taken up by shelves or... bikes. The rest of the bikes have to be parked on the floor. I know kick stands are controversial, and they can't be installed on all bikes. In my house, every bike that can take a kickstand without damaging it or causing humiliation to the owner, has one. This is far and beyond the easiest way to park a bike in my garage.