Well, we sure have a lot of opinions on the subject. Here is what I do, now that we are into cold weather here in New England. I use the block heater during the night, unless the truck won't be used early the next day. When using it early, I start the truck, turn the high idler to 1200 RPM and let it run for 10 to 15 minutes. Before driving, I turn the idler off and do my normal thing for the day. A point to make here is, I have an electronic high idler, if it isn't shut off completly, the fuel system doesn't go back to it's program and I feel a loss of power. If the control knob is turned all the way to low, but not clicked off, there is a definite loss of power. Keeping a steady foot on the throttle, and clicking the knob to the off position, you will feel a surge and your speed picks up.
I for one, feel that warming an engine, and also trans and rear end, before putting a load on them. It settles everything into working mode. MHO