Hoist? Picture a couple of play swings hanging from the ceiling, facing each other. 2x4, eye hooks and rope. Put the canoe ends on the seats. If you need the canoe up high then mount the swings high; you can lift the canoe’s ends up like you would with the shelf brackets. Way easier than trying to hoist both ends up simultaneously.
It’s a 7’ ceiling and I am 6’5". I solo load my 85lb canoe on my car by myself, so getting it onto a couple shelf brackets won’t be an issue at all, besides that this is to store a 30lb canoe. If I can’t manage that, I need to find a new hobby. It will have to be along a sidewall anyway due to space constraints.
I appreciate other suggestions, but feel like I have made it pretty clear that hanging it doesn’t makes sense in my garage, nor is it something that I want
So if you got some fishnet from a Russian trawler, you could suspend it… 
Here’s my SOF kayak on padded J-racks from Lowes screwed to the wall. Hard to see but I also have it strapped around the wall framing for stability. You might be able to do something similar if you could find deeper cradle racks.
It occurred to me (as a former industrial construction electrician) that you could use rigid conduit 90 degree elbows too (the threaded style) – 3/4" or 1" would be plenty strong. Use “broom hanger” conduit mounting clips or two hole straps and screw a coupling on the vertical arm so it can’t slip OR mount the elbow with the vertical portion pointing down. These could actually be built so that they could pivot to the side when not in use. Slip sections of pool noodle over it for paddling. I made racks for my ex boyfriend to hang tires in his garage using conduit:
https://www.lowes.com/pd/Blue-Hawk-9-25-in-Gray-Steel-Multipurpose-Hook/1000344019
Black Iron pipe would work also. In fact, I bet you could mount the upright on fence gate hangers so the would swing and the weight of a kayak would be meaningless to them. https://www.jakesales.com/ProductDetails.asp?ProductCode=flat-back-wall-mount-hinge&matchtype=e&network=o&device=c&adposition=&keyword=&utm_source=bing&utm_medium=cpc&utm_campaign=Jake%20Sales%20Merchant%20Center&msclkid=5f0d2207fcb1193df4417d7f84cadb26
https://www.tractorsupply.com/tsc/product/national-hardware-n131-375-298bc-pintle-zinc-plated
Ya’ll are stirring my inner redneck…