Not easy to describe (I don't use a torque wrench for pedals either). I take it down quite snug, then put a quick burst of shoulder in it to get it to seat solidly. You should feel it turn but only about 5°. It should be tight enough that you *could* take it tighter, but don't want to. (I know that isn't much of an objective description.) Just remember that you want them tight, but you also want to be able to get them off again without C4.
Thanks, that's the type of answer I wanted, and it's most useful. I wasn't expecting something really objective, because objective implies measurement, and I didn't want to buy any measuring devices.