It's not necessarily how fast you're going. It's more the RPM's, vs. speed. The optimal speed would be where RPM's aren't high, but you're still travelling fast, as in 65MPH. As you go faster, your RPM's will be higher and you will use more gas - your engine is working harder to maintain the higher speed.
So going 90MPH @ 3K RPM may get you there quicker, but you will use less gas when travelling at 70MPH @ 2K RPM or whatever.
There's other factors such as tire pressure, wind resistance, etc. But that's a simplistic look at it.