Funny you should ask. I just did mine (sheet metal, like yours) and decided to go with foam board, one side foil the other vinyl or roughly equivalent. It seemed more fun than the prefab stuff and was cheaper. I got mine from Lowe's since Home Depot didn't have the foil side and the board was pink (!). I'm sure it functions fine but.....
I used two layers (foil inward). I think it ends up about R-6 but if not it's better than R-0. My doors have a northern exposure but if you have afternoon sun, it would probably help a lot in summer.
My doors have enough metal framing inside to retain the boards but I also used 3" aluminum tape to secure everything and close off any remaining air gaps. BTW be sure you have a gasket on the bottom of the door to seal where it touches the concrete.
The difference was amazing. I shouldn't have been amazed but I was

). Even when it got to 6 degrees here a week ago, the garage never got below 60; previously it would have been about 40 maybe 45 at absolute best. It's attached to the house and the furnace is in there with the washer/dryer so the furnace always provides a decent heat source.
Others here I'm sure have done it differently. Being in CA I don't know what temps you get but it also quieted outside noise too.
Hope this helps, and good luck whichever direction you go!