We present the demonstration of two novel chip-scale FMCW LiDAR optical engines in which all photonic components, including the laser sources, were integrated on single silicon chips. Using the first LiDAR chip design, with an integrated distributed Bragg reflector laser and grating couplers as input/output ports for the receive/transmit light, we demonstrated a maximum range of 28 m limited by transmit light output power of 2 mW. We further demonstrated a maximum range of 75 m using a second LiDAR chip architecture having an on-chip sampled grating distributed Bragg reflector master laser with integrated power amplifier in which the local oscillator light was obtained from the laser back facet. This maximum range can be further increased by improving the laser linewidth. The measured range dependence of the FMCW signal level for both LiDAR chips agreed well with theory. The chip-scale FMCW LiDAR optical engines can be used in conjunction with a variety of off-chip two dimensional beam scanners to realize a chip-scale scanning LiDAR solution. To the best of our knowledge, this is the first published demonstration of fully integrated FMCW LiDAR optical engines on a single silicon chip.