I think people are getting ethylene glycol and propylene glycol mixed up. Car antifreeze is ethylene glycol, it has better heat transfer, is toxic and tastes sweet. Propylene glycol is used in hydronic systems (floor heat/hot water heat), in drains, as a cosmetic additive and even as a food additive. It has a lower heat transfer ability, gets viscous at lower temperatures and is not preferred in cars for those reasons.
I would recommend getting propylene glycol that is intended to be used in a heat and cooling system, not RV antifreeze. Even if you spill it, it won't kill your dog.