A method for generating energy-optimized travel routes with a vehicle navigation system includes generating candidate travel routes between a route origin and one or more route destinations, and then dividing each candidate travel route into a plurality of route segments. The method includes estimating expected travel speeds along each segment using cloud information and calculating an expected energy efficiency over each of the candidate travel routes using one or more vehicle-specific energy efficiency models. The travel routes are displayed via the navigation system, including a trace of the energy-optimized travel routes and an expected or relative energy efficiency along the energy-optimized travel routes. A vehicle includes the navigation system and a powertrain. A powertrain controller may control vehicle speed over a selected route to maintain an optimally energy-efficient speed.