1. Now I use "mke06" and "mke16f" chips,
2. Using "MCUXpresso IDE"
If I want to build an "RTOS" or" MQX" project, how can I build a project?
You can download MCUXpresso SDK for MKE16F and MKE06 from below link, FreeRTOS is supported in this package
If you want to use MQX Lite, I would suggest you use code warrior, KE06 project can be created.
I recommend that you start with FreeRTOS and start here: Kinetis K60 ARM Cortex-M4 Demo