MPG is alot more complex than just simply keeping RPMs down....granted, lower RPMs can be important, however, lower RPMs don't always mean better MPG...it has to do with where the engine is at it's peak efficiency, cams, heads, injection type/setup, maintenance...even things like filters, tires, road and weather conditions, etc will all play a role in the efficiency of the engine. the key is to get your gearing correct in order to keep your engine in it's peak efficiency area of the torque curve, because the less work the engine has to do in order to get and keep the truck moving, the less fuel it uses.
now with that said, the peak of the torque curve is typically lower in RPM, but not necissarily as low as you can get. here's a couple examples from my vehicles...on my truck, when I first swapped to the T56 (which has vastly different gearing than the 60e I had before it), I had 3.73 gears in, now in 6th, I would cruize on the freeway at a really low RPM, around 1400-1600...and I'd get around 11-12mpg....however when I re-geared to 4.88's, I can cruise around 2000-2200 or so, and my mpg jumpped back up to 16-17mpg with no other changes.....another example is my little commuter honda car, I commute around 70-80 miles round trip every day to work, always along the same route, etc...well, I can cruize along the freeway at 75mph in 6th spinning roughly 2800 and getting 35-37 mpg....however, when I cruize at around 90mph in 6th spinning roughly 3200, I get 38-39mpg...so absolute lower RPM doesn't necissarily mean higher mpg, unless that is where you're engine is most efficient.
now with that said, there is one thing that will increase mpg regardless of engine design or efficiency...which is driving style, most all of your mpg are lost from things like getting the truck rolling from a stop, and idling, road rage, throttle feathering....y'know, the stuff that mainly constitutes city driving, so if you can help stabilize that sort of stuff by being aware of how you're driving, and keeping your driving stable and conservative....you'll be able to increase MPG, at least to some extent.
of course there are MANY other things that play a role in MPG like aerodynamic drag, weight, etc, etc, etc....but I mainly focused on RPMs since that's what you asked about...