I usually start mine, get the last of my gear on, then ride away. Unless the 30's not been started for a while, which may require a little more of my attention.

If it's a fuel injected bike I'd wait a minute until it stops fast idling. The 250's kept to under 7k or so for the first mile or two (no temp gauge you see).

IMO idling your bike takes longer for the bike to warm up and causes more damage than you think you doing good.

My way is by starting the bike with the choke on...kit up and leave one glove off..this way I can feel the temperature of the air coming out the exhaust and also to feel the water hoses with my bare hand...as soon as both of those arm warm I take off making sure to keep the revs below the 5k mark untill it's properly warmed up