The HT1000 and MTS2000 appear to be fine radios, but if I'm not mistaken you need to have the motorola software in order to program them.
Also, as N_Jay brought up to use the FRS frequencies you cannot transmit more than 1/2w of power, and both of those motorolas transmit 1w to 4w, so I wouldn't recommend using them for FRS.
As far as the Icom IC-F21GM radio, setting the CTCSS is as follows:
o While pushing and holding [PTT], [MONI], [W/N], turn [OFF/VOL]
to power ON.
o Select the desired CH 1 to CH 15 that you want to assign the
CTCSS tone frequency to.
o Push and hold [MONI] until a beep (Pi) is emitted.
o Push [PTT] the necessary number of times to choose the 10 digit
of the desired channel from the channel list.
o Push [MONI].
• Confirmation beep is emitted. (See p. 17)
o Push [PTT] the necessary number of times to choose the 1 digit
of the desired channel from the frequency list.
o Push [MONI].
o Turn the power OFF, and then ON again.
Setting the DTCS tone is similar.