There is a lot of expertise on this forum so you'll get answers for sure. I'll try to help by suggesting that first you calculate the displacement of your little engine. I assume the cylinders will be single acting (steam pressure on only one side of each piston) and then calculate in mm: 1/2 bore dia. squared, x pi x stroke length x 2. If you get a scientific way to "match" the engine and the boiler, most likely you will need to know the engine displacement and the boiler volume. I think you also need to specify the heat source you will be sing.
Now this is not a scientific answer, but here are two examples of 2" dia. boilers at work. First, the 19" lightweight Midwest launch with a 2" x 2" boiler fired with sterno, steaming a very small single cylinder single acting oscillator. This works OK; Very small boiler, not a super hot fire, but only one cylinder.
https://www.youtube.com/watch?v=m3dF_Jnjin4Another small steam plant is the MSM's 2.2 cc "Avon" 2 cylinder double acting oscillator, here steaming from butane fired "Econo" boiler 2" dia by 3" high. This no doubt would be more than enough for your balsa boat but is just enough for this 40" 7lb boat.
https://www.youtube.com/watch?v=BejMNfIvXLQSo your answer lies somewhere in between. How the water is heated is a major variable here, and I have no idea how that is calculated. (BTU's x heating area, probably) You can see from these two videos that your home made 2" dia boiler at 3" length might be enough. If you can make it say 4" and have enough heat from your fire source, all the better I think.
Now the real experts will answer your Q. Good luck and please post pictures of the engine and the boat! (Don't forget to pressure test the boiler to at least 125psi, maybe more if you can)
-Carl