Everyone has their own way of doing it. I don't mix oil extra heavy and I'll have my jetting and air screw setting dialed in near perfect before I ever touch the kicker so I let mine sit and idle for a nice long while to warm up.
I've been known to set a stop watch and walk away before and it's never hurt one.
I've known (and seen video's of) people who stand by and blip the throttle the whole time to never let the engine "sit" and that works too.
Those heat cycles are really there to make sure that the expansion and contracion of the cylinder and gaskets is going to take place before a ride and allow you to retension the nuts before you take off on it.