it depends on how you have the brake setting. I use the Hold function, so essentially you just punch the accelerator.
I haven't tried it with the other settings but if you have it set to creep, then you'll need the left foot on the brake pedal and just let off and simultaneously punch the throttle.
I don't think it's a good ideal to treat it like an automatic transmission with a torque converter (left foot on brake, right foot on accelerator up to the stall speed, typically around 2000-2200 rpm).