I'm a professor at a small liberal arts college (SLAC) in the USA. We have about 250 faculty, and I can think of around 20 from Europe (however, many of those got their PhDs in the USA). So it's certainly possible to get a job at a SLAC in the USA. The key thing is to demonstrate that you actually want to be at such a place, that your teaching is excellent, and that you want to live in the town where the SLAC is located. We put a lot of effort into mentoring new faculty and hate to hire someone who chooses to leave after a few years.
I am also aware of a few SLAC-like institutions in Europe, where we send our students to study abroad. The most relevant to the OP is probably Constructor University in Bremen, Germany. It has under 2000 students, is fully residential, and emphasizes high quality teaching. It used to be known as Jacobs University, and I visited there in 2017. It's a private university, but recognized and accredited by the government. They really run on a liberal arts model, even if their webpage now seems to be emphasizing research. I believe the vast majority of students are undergraduates, with only a handful of PhD students.
Another option would be to teach at a study abroad program like DIS in Copenhagen (or, they also now have one in Sweden) or AIT in Budapest (computer science) or BSM in Budapest (math). These programs often get a lot of students from US-based SLACs so they run on a teaching-focused, highly relational model.