if you want do be realy exact, there are three options:
the slowest:
echo "<p>Hello World</p>";
a bit faster (no need to check for inline-valiables because of single quotes):
echo '<p>Hello World</p>';
the fastest (no php-interpreting at all):
<p>Hello World</p>
but between all of this, the difference would be so minimalistic that you won't ever notice it - much more important: make your code redable and do it the same way everywhere, so nobody who's reading your code (and has to maintain it) gets confused. i personally would prefer the third method (so i can use code-completition in my IDE), but it's your choice - i know a lot of people who output everything using echo.
EDIT: to be complete, there are some more possibilitys i didn't mentioned like heredoc- and nowdoc-syntax, but this are basically the same as double/single-quotes... also, you could write print instead of echo and so on, but that wouldn't make a difference.