I have found that in 3rd, 4th and 5th gear, when not trying to accelerate, having the lowest possible RPM is best. At any point if you need to accelerate at all, then you're better off revving at the right RPM to spend less time accelerating. Even if you are only revving at 1200rpm in 3rd, if you start accelerating, you won't move much and you are wasting a LOT of gas. You're better off being in 2nd gear, getting up to speed and then coasting.
I also found that in 1st and 2nd gear, it's virtually impossible to get good mileage no matter what you do. Best to get through those two gears and coast in 3rd and up as much as possible.
I find that for the highway though, just under 3000rpm is usually the sweet spot. Much lower and you're going too slow, much higher and you're wasting too much gas. Sometimes I'll go faster cause the situation permits good mileage despite the speed (cars in front of you, slight downward incline etc)