Fuel efficiency depends upon (1) power output over time and (2) efficiency of your engine.
Of these two factors, (2) tends to be fairly marginal in the sense that the compared to (1), the differences between one average automotive internal combustion engine and another are pretty small. However broadly speaking a moderately sized modern engine is going to be more efficient than a large older-style engine because of recent improvements in design, less internal friction, etc.
(1) is the biggie. Fuel use is depends on how much work your engine has to do. That depends on how much force it has to put out to overcome friction and effect acceleration, and how long it has to output that force for. The more weight your car has to lug around the harder your engine has to work to accelerate your car. The faster you go the greater friction losses to mechanical resistance and air resistance. And the more time you spend moving and accelerating the more time your engine has to output force.
You might say that there is an immediate quandary: should you go faster so that you spend less time with your engine running, or should you go slower, so that there is less friction?
The answer to this quandary lies in (3) internal friction and power use and (4) the respective relationships between time and work done, and friction and work done.
As to (3), a car and its engine uses a certain amount of fuel regardless of whether the car is moving or not. This is because of internal power loss through the work involved in just keeping the engine turning over and because the longer you sit in your car the more air conditioning you use etc. So on that basis, you want to get where you’re going quickly to avoid using fuel just keeping your engine running and yourself comfortable.
As to (4), work is linearly related to time. However, work is geometrically related to speed, because friction (and therefore the force required to overcome friction) increases geometrically with speed.
In plain english that means that if you go twice as fast you’ll arrive in half the time, but you’ll use more than double the fuel. So overall you’ll use more by going quicker.
These two contradictory factors mean that there is an optimum efficiency speed for any given car on any given journey, which would have to be calculated individually.