My wife and I got prepaid plans from T-mobile for our longer trips in the US. They gave us SIM cards for free when we put money on the account. I believe there was a minimum amount of $30. Last time we used it, it was $3/day for unlimited 3G data, calling, and texting. If you didn't use the phone for that in a day, it was free. We just went into a retail location with our unlocked phones and walked out with the new SIM cards on the plan.
Before you go, you would have to scope out a retail location or two to set this up in the US. If you want them to be working when you hit the ground, then you may have to look at other options.