Good question.
You can find out for yourself. Lay out an underwater course 100 yards long at a constant depth. Record your starting gas and time, and swim some laps at a constant speed with a given kick (frog or flutter, etc.). Record your ending gas and time.
Give yourself some time to rest and repeat with a different kick. Also try some different speeds.
You can calculate your average speed over the course (distance/time) and your gas usage. Plot the various kicks on a graph of speed versus SAC rate, with a different line for each kick.
You will notice that your gas consumption rises exponentially with increasing speed, regardless of the type of kick. The most efficient kick (in terms of the greatest distance traveled for the least amount of gas consumed) is a nice, easy, slow kick.
Your graph will also tell you which kick is most efficient relative to other kicks.
My personal investigation revealed that a slow flutter kick was most efficient.
I personally prefer the modified frog, though, and that's what I use most of the time.