Lin Engineering also has torque/RPM curves at given voltages and the graph lets you estimate torque at a given RPM. The biggest lesson seemed to be to use parallel wound motors, which I think is where the maxim to use "low inductance" motors comes from, in a roundabout way. The graphs also show that higher voltage (within reason) is better than lower for getting a broader torque curve and faster RPM. This is why 24V is preferred for better, higher performance 3d printers.
At one time I wanted to make a dynamometer to help chart these things for different stepper motors, but I had other goals, and even 3dp machine designers don't seem to care much.