I used to start the car and drive off straight away, but I've found the gauge gets moving a lot quicker if I let it idle for 30 seconds or so before hand.
This is better for me, as I want the car to have started to warm up before I get on the motorway (literally 1/2 mile from my house). Joining the sliproad and driving down the dual carriage way before it branches off to the motorway, I keep it around 2500rpm/50mph.
By the time I join the motorway sliproad, the water temp gauge is at its normal position.
Now at this point, I used to get some speed up while coming down the hill as there's quite a steep incline where my car used to slow down slighty going up it
I've seen speeds of 80-90mph (3500/4000rpm) from cold starts. I reckon the engine oil has just about reached its medium temperature by this point
For the last few weeks though, I've been going easy on it and have kept the revs at 3000rpm (70mph) all the way to work. I actually find it much more fun to cruise at 70, then I do to rag the car and do 90 all the way there.
When I move house this weekend though, it's too close to work to take the motorway. Luckily, as you come out of the estate, there's a slight hill which goes on for about 1/2 mile... light throttle, less engine wear.
Not looking forward to driving through town though... poor clutch!