Frankly any VPN which doesn't require a custom client is a good one. As it's a SOHO environment I assume that you don't have a requirement to authenticate against some back end user/password system like AD or LDAP.
PPTP has been in Windows for a long time as it's a Microsoft technology, but pretty much every OS now supports it. In the past it's had flaws, but has matured well. PPTP does not require an X509 certificate (although if you're using EAP it does)
IPSEC is a more open standard and is commonly used to protect server to server communications because it works on layer 3 and so is transparent to applications. Authentication is either via a preshared key or via certificates.
There's no real answer here. They're all much of a muchness these days. If you want multiple users connecting and want to audit then PPTP provides usernames and passwords, IPSEC doesn't - you can only change the preshared key to stop people authenticating and that affects everyone. Certificates aren't really doable for SOHO environments in my opinion.