Hi @ahjg_xu
You can download MCUXpresso SDK for MKE16F and MKE06 from below link, FreeRTOS is supported in this package
https://mcuxpresso.nxp.com/en/select
danielchen_0-1618987500110.png
If you want to use MQX Lite, I would suggest you use code warrior, KE06 project can be created.
danielchen_1-1618988105422.png
Regards
Daniel