Where do you live? Around here it's always up or down hills and that kills the 4-cyl trucks for fuel economy.
A V-6 with a 5-speed and the proper axle gears does good. My Ranger with the 3.0L, 5-speed and 3.73 gears was decently quick and I got 19 mpg around town with a cap and 25 mpg highway with a cap, when I went to a tonneau cover I got 21 around town and up to 31 highway.
I have a buddy who has a similar Ranger with a 4.0L, auto and 3.08 gears and it does decent. My ranger would smoke his in a drag race, but his isn't too bad and he gets around 18 mpg city.
Besides that, it's a Ford, not a Ferrarri, you can't expect sports car performance from a truck unless it's something like a Lightning.