I don't know what brand of engines Sterling uses in their trucks, but they don't seem particularly quiet.
The Stirling engine is fairly quiet, but nobody sells them commercially. Okay, you can buy a nice toy one that uses air as the working fluid. One of my friends did. It uses fuel at about the same rate as a small model airplane engine, and produces enough power to run ... itself, provided you use really thin oil on the bearings. Not ready for prime time now, and probably never.
Fuel cells have a better chance of someday being really available.
In the meantime, it is possible to make a two- stroke pretty quiet, using techniques that have been outlined here. There may be more effective strategies used in certain military outboard motors, or maybe they just sweat the details more.
-Mike-