When it's really cold..say minus 25 to minus 35, I let the car warm up bu idling for a few minutes. Then I drive usually shifting at under 2000 rpm (gas engine) till the temp gauge (I have an engine temp readout) till the engine temp gets close to normal. But you're in Florida, are you talking about a cold snap in Florida or about say...Northern States ?
If Florida, I'm guessing a cold temp is somewhere in the 30's. Not terribly cold for the engine, so I think the engine will warm up quicker by driving...and once the engine is warm, then you got heat from your in car heater.