How does one get optimal gas mileage from a manual transmission?

Which RPM would one shift at and how fast should one go to get optimal results for gas mileage?|||It depends on the car, but I have had a few manual transmission cars. I normally shifted kinda low around 2,500 and I got much better gas mileage in them than in my automatic versions of the same cars that I had before (Trans Am 2002, Camaro 1995)