No, Torque is not free. There is a trial binary version out there that you can use to build a game, but you have no source code access to the engine so are limited to what is out-of-the-box. Still, there is enough to get an idea of how it works, etc.
We use the commercial "indie" license for Torque 3D - meaning we purchased the product at a reduced rate because our sales are going to be less than a certain amount (at this time of course sales equal $0 since we can't charge for the game without a Star Trek license). But we did purchase it nonetheless and are licensed Torque developers. This gives us access to udpates, engine source code, and private forums on the Torque website.
Engines like Torque do require programming and graphical knowledge. It is pretty tricky to build a game without any relevant experience, all engines will require you to learn code and become familiar with various level design practices. If you are a beginner, I recommend something like Game Maker which is considerably more user-friendly, but of course will not produce results like we have with Torque 3D and its relevant design tools and extended codebase.