The New $49 BeMicro FPGA Evaluation Kit available from arrowdevtools.com looks very impressive with the availability of free tools and a Nios II processor. With the on-board USB-Blaster for Quartus II Web edition you should have all you need to design and debug with a custom FPGA microcontroller. For I/O you have an 80-pin edge connector, eight LEDs, a UART and JTAG. See this getting started page for more details.
UPDATE: There are a number of low cost BeMicro boards available from Arrow at http://www.arrow.com/bemicro/ including the new BeMicro Max 10 for $30 US.
UPDATE 2024: Newer low cost MAX10 board is the MAX1000 for $38.
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