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Personally I'm a big fan of Adafruits ItsyBitsy 32u4. Loads of potential in a small and cheap backage. Enumerates as an arduino via the USB port, so no special hardware is requires to program it. I use one to read a PWM signal and measure the pulse width on a few channel, so I would think it's capable of outputting similar signals, which comes in handy for contrilling LEDs and small steppers.
If you want to control something a bit more power hungry via PWM you might want to look into PCA9685 which works really well with, for example, a raspberry pi zero.