what the other guys said, re putting crap away right away, always having the same spot for stuff, and having clothes organized the night before--generally all common sense.

here's another thing though--getting a proper nights sleep.

I'm not a morning person, but if I have a good nights sleep, I find its easier to get my act together. If not, then I'm all sleepyheaded for ages.
I too do simple breakfasts, hot water for coffee, and easy to eat stuff like yogurt, bread, jam, fruit. Fast and little cleanup.

I find getting the morning constitutional out of the way often adds time, as its not like a light switch you turn on to make happen, and it is important to get done before heading out (and touches on eating a well balanced diet and hydrating properly, as these are factors).