It's actually an elegantly simple thing to do in hybrids that work like the Prius:
1) Accelerate to desired speed (using e-assist or not, depending on your goals, but no more than about 41-42 mph)
2) Briefly release the accelerator. This causes the gas engine to shut off (assuming the car is warmed up, etc.) and it will go into regenerative coasting (light deceleration), unless you do the next step...
3) Feather (press) the accelerator so that regeneration stops, but not so much that you engage the electric motor (unless you want to). Magic zone: you are now effectively coasting in "neutral".
4) When you've coasted as slow as you want to go, press the accelerator enough to re-start the gas engine and re-accelerate.
It's been quite a while since I drove a Toyota hybrid, but I got a huge kick out of how easy it is to do many of the P&G/EOC tasks with just the right foot. No ignition keys, kill switches, gear shifting, clutching, bump starting, etc. Elegantly simple & refined.
Definitely recommend trying one sometime just for the experience!