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Keep it under 2500 rpm:

Rapid starts and stops, often called “jack rabbit” starts and stops, use fuel and costs money at the gas pump. Gentle acceleration and braking can save more than $1 per gallon, according to the U.S. EPA, because smart driving can improve fuel economy by up to 33%. A few seconds of high-powered driving can use as much gas as driving for several minutes at more measured speeds. Ease into accelerations and brake smoothly, especially around corners, to raise your mileage the most. Avoid tailgating. When EcoDrivers™ avoid rapid starts and stops, they are not only practicing safe driving habits, but they’re also reducing the energy required to get the vehicle moving again.

Source: EcoDriving USA