The "most efficient" part is where the answer becomes very tricky. Generally a great way to do this would be to simply write a query with a join on the two tables and happily skip away singing songs about kittens. However, it really depends on a lot more factors. how big are the tables, are they indexed nicely on the right columns for the query? When the query runs, how many records are generated? Are the results being ordered in the query?
This is where is starts being a little bit of an art over science. Have a look at the explain plan, understand what is happening, look for ways to make it more efficient or simpler. Sometimes running two subqueries in the from clause that will generate only a subset of data each is much more efficient than trying to join the entire tables and select data you need from there.
To answer this question in more detail, while hoping to be accurate for your particular case will need a LOT more information.
If I was to guess at some of these things in your database, I would suggest the following using a simple join if your tables are less than a few million rows and your database performance is decent. If you are re-running the EXACT query multiple times, even a slow query can be cached by MySQL VERY nicely, so look at that as well. I have an application running on a terribly specc'ed machine, where I wrote a cron job that simply runs a few queries with new data that is loaded overnight and all my users think the queries are instant as I make sure that they are cached. Sometimes it is the little tricks that really pay off.
Lastly, if you are actually just starting out with SQL or aren't as familiar as you think you might eventually get - you might want to read this Q&A that I wrote which covers off a lot of basic to intermediate topcs on queries, such as joins, subqueries, aggregate queries and basically a lot more stuff that is worth knowing.