I have found that driving at 60 mph or less on the highway helps the most there - I often drop as low as 55 - this is based on light traffic and 2 lanes in the same direction. I plan my routes to spend max time on back roads where I can vary from 35 to 45 mph. That being said, I drive a 2010 Prius II, which has a dash display showing instantaneous mpg - also use a scan gauge to monitor water temp, leaving the heater off 'till it gets around 170+. My average for the 11,000 miles I've driven the car, since new, is 52mpg. Keep the tires inflated to max sidewall psi and do NOT be in a hurry. :-)
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2010 Prius II - Sandy Beach Metalllic
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