Have you been on the Katy Trail? It will take you as far across Missouri as you wish to pedal. I think I've heard there are some good bed and breakfasts and motels available along it too.
I just rode my regular road bike on it. I could certainly feel the extra effort for the soft surface, but it wasn't bad, except trying to ride just after snow melted, when it just became soggy.
I've tried a bit of gravel riding/touring recently. I still prefer a good paved surface, but it is nice to get off the busy roads onto the less travelled roads. Now, if they were just all connected to go where I want to go.