$$\text{Absolute maximum efficiency} = \text{Carnot Efficiency}
= \frac{T_{hot}-T_{cold}}{T_{hot}} $$
where all temperatures are expressed in degrees Kelvin (= degrees C + 273).
A very well built and designed engine with high temperature differentials, high pressure and using Hydrogen (not at all recommended) or Helium working gas might achieve 10% - 50%+ of Carnot efficiency. Less than 10% is easy. More than say 20% is getting hard.
Proper Regenerator design and construction is UTTERLY CRUCIAL for good efficiency.
MUCH needs to be understood to get a good design .
Toys are easy.
Real power and efficiency is hard.
The web has most of what you need. All you need really.
It is vital to know what your targets are and what your manufacturing limits are, how much wattage, what expected size, what application, what tolerable efficiency, fuels, gases pressures temperatures. If you can give as much detail as possible a far better answer can be given.
REAL high power high efficiency designs would usually use Helium at 2000 psi+ and say 400-600 degrees C (!) (or more). Others, at lower efficiency, use air in some real world applications and maybe 100-200 psi. You are welcome to email me (see my profile) and I can give you some guidelines, but providing substantially more details here will help.