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You can't say warm or cold air is better and have that be that. It is completely dependant on engine design and programming. However, warm air is generally better for fuel efficiency. It is less dense, so it requires a larger throttle opening for the same amount of power. A larger throttle opening reduces pumping losses and increases BSFC. Warmer air also speeds combustion which also increases efficiency. If you go too warm (again totally dependant on what engine you have), you can may run into issues with retarding timing. However, switching to a higher octane fuel would remedy that issue. Most cars love 100+F air, they start getting quirky around 140F from what I've read (again it differs from engine to engine).
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