I like to start my engine and immediately pull away, even on the coldest winter day, but no matter what the temperature, I always drive extremely gentle for the first few minutes. I live in a townhouse complex, so I simply put the trans in drive and let the engine pull the car without touching the gas until I get out of the complex. Then I keep the pressure on the gas light enough that the rpms do not exceed 1500 for another half mile or so. Only once the coolant is up to full operating temp do I exceed 2000rpm. And I try not to go full throttle until I know the oil is up to full temperature.
This is in a 1995 Firebird Formula, and since it's an LT1 350, it makes enough low end torque that I can drive it this gently and still be able to keep up with traffic very easily.
One more thing, in the winter, I use a block heater, so the engine has some warmth in it before I even start it, so that helps a lot.