Origo is the way to go with non-pressurized alcohol stoves, although it would have to be a damn modest boat for me to want to use alcohol again as a fuel.
The hazards with alcohol involve the skills of the operator, primarily. It's a two-stage process of pre-heating the burner with a pool of alcohol in order that the alcohol in the burner ring itself becomes a flammable vapour, which is what you actually cook with. Kerosene and diesel require the same treatment, and unfamiliarity with the process can involve a dramatic, if rarely injurious, "flare-up".
Propane is LOGICALLY more dangerous, having the potential to collect undetected in the bilges, but has greater BTU ratings, meaning more heat energy potential. The best fuels is probably the rarest: compressed natural gas. It has all the upsides of propane in terms of convenience, but it is lighter than air itself and wants to leave the boat out the nearest hatch or vent if released in error.
For me, the solution ended up being a propane 1-lb. cylinder on a Coleman "camp stove" (you could use "camp fuel" in a pressurized tank...it's also known as naphtha or "white gas"). Basically, I put a plank with anti-skid across the cockpit and cook under the bimini. It's no big deal, even in the rain.
The new boat has a lovely Force 10 three-burner rangetop with oven (we haven't even used the oven yet), and while it's very nice, I really have to put in a dorade with a reversible fan above the galley, as my wife tends to let things smoke a bit.
A final option is a gimballed bulkhead mount single burner of the "Seacook" type.
A brief adventure in Googleland brought a blog that covers the topic quite well:
http://knockaboutsloops.blogspot.com...d-heating.html