Are you planning to put 20% down, or you just have the ability to put it down if required? VA (if you are a qualified veteran) is a more friendly program if you are down payment challenged because it is 0% own and has no PMI. The downside is that you pay a 2% funding fee.
If you have good credit scores (740+) then your best bet is probably conventional. You will get a low rate with no points, normal closing costs, and no PMI. FHA charges an up front premium equal to 1.5% of the mortgage amount PLUS monthly PMI. If your credit scores are not excellent then FHA may be friendlier because rates are not tiered based on scores.
If you want to compare apples to apples, have your lender compare FHA with 0 points vs Conventional with 1.5% points and see which has the lowest paymen. That is your winner