Propylene glycol is non-toxic (it is actually a food additive in many fat-free foods) but the additives in coolant are mostly toxic. Sierra was made of PG but the additives in it would still kill you. Engine Ice claims to be non-toxic but at $17 for a half gallon I won't be using it any time soon.
The problem with many coolants at the store is that they contain silicates, which are hard on water pump seals. Honda specifically recommends silicate-free coolant in their engines. Yes, lots of folks use them and don't have problems, but I'd rather not chance it. Having a water pump seal crap the bed when you're ten miles from home makes for a long afternoon of pushing.
Honda sells silicate-free coolant at their dealers. However, the motorcycle stuff is expensive. So rather than buying that, go to a Honda car dealer and buy it there. You get the same silicate-free premixed coolant as you get at the cycle shop, but in gallon jugs and for less money to boot. It is dyed blue, rather than red, but it is the same stuff.
I've never seen any silicate-free coolant at a department or auto parts store. The only brands I know of are the Honda brand (but if the other manufacturers have similar requirements I'm sure they carry similar products) and International also carries a similar product for heavy trucks.