Thanks to everyone for their comments! I never thought to check for knitting sets on eBay.
Based on what I have been reading here and elsewhere, I think I will opt for either a set of bamboo or the Knitpicks. I had thought about getting circular needles or double-pointed, but realized that there are plenty of patterns for straight needles so will start with those. Since these are doll clothes, I figure the shorter straight needles (10") should work fine.
Ravelry is wonderful for patterns! I have been saving patterns from there as PDFs to my computer so I can access them later. It has really sparked my interest in trying my hand at knit and crochet again. We are trying to get this big house ready to put on the market, so I need to keep my quilting stash contained and out-of-sight (and possibly in storage for awhile). Figured I could get by with a single large plastic tote if I took up making doll clothes for awhile. I think it will be a fun change of pace for me.