IPUMS
Run by the University of Minnesota, IPUMS takes census and survey microdata — the individual anonymized records behind the published tables — and harmonizes it, so that variables mean the same thing across decades. That harmonization is the hard part, and it is why IPUMS is the backbone of most serious demographic research. Free, with registration.
Start at ipums.org. Note the trade-off: microdata is enormously powerful and not remotely quick — you build your own estimates, and you own the methodology.
Tidycensus & the R toolchain
If IPUMS is where the deep data lives, tidycensus is how most analysts get census data into a working session. Written by Kyle Walker (Texas Christian University), it wraps the Census API so an ACS pull is a few lines of R — returned tidy, and optionally with map geometry attached. Since 2017 it has quietly become the default.
Which should you use?
A rough guide, since the three overlap: