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If the garage door is steel or aluminum you'll want to use high-quality latex exterior house paint. If the garage door is wood, you'll want to apply a primer—after sanding, of course—and then paint. When it comes to wood, you can be a bit choosier with the kind of paint that you use.
Keeping this in consideration, should I paint the inside of my garage?
The only difference between painting interior walls and garage walls is the type of paint you should use. Eggshell or satin-sheen is the recommendation for painting interiors, but don't use it on garage walls. Although the garage has no direct exposure to the elements, it is still vulnerable to their affects.
Also to know, what kind of paint do you use on a garage door?
Acrylic latex exterior house paint is the best choice, but be sure to choose a high quality paint. In most cases a single coat of paint is all it takes, but keep in mind it could take more than one coat to provide good coverage if you're painting the garage doors a color that's lighter than the original color.
Keep it simple! I recommend white, but if you want something a bit different then paint your garage a light shade of gray, beige or blue because lighter shades make a room seem bigger than it actually is. The color of your walls also needs to compliment your cabinets and floor so the entire garage looks cohesive.