In the summer, set your sprinkler timer for 2 minute intervals at 12am, 1am, 8am, and 8pm  every 2-4 days.  This will minimize the chances for run-off and evaporation while still providing a deep soak.  In the winter, you can cut out the 8am & 8pm waterings.

In the summer, keep your grass at least 2 inches high when you mow.  This will provide more shade to prevent evaporation.  In the winter, cut it down to 1 and 3/4 inches to allow sun to get down and dry out the soil.