The general concensus is that if you give your body sufficent rest and replenish your muscles with enough nutrients, that alone will ensure a faster recovery. There is a simple method you may supplement into your daily workouts to enhance the speed of your recovery furthermore. I am not talking about a solution that provides you with full reocvery by the next day, but rather a straight forward tip that will speed up your recovery rate by a number of hours (Possibly up to half a day).
At the start of each workout as part of your warm up incorporate a resistance based exercise using moderate weight to address a muscle group that you trained the day before. This will help speed up the ability your muscles will have to recover faster.
Heres the explanation; if you supply the muscle group which is sore and fatigued from the day before with as much oxygenated blood as possible it will help that muscle group recover faster. For example; lets say you did a chest workout the day before and today is your leg day, simply start out your warm-up with some light cable flyes. The light cable flyes will deliver the much needed oxygenated blood to the chest area.
This methodology can apply to all parts of the anatomy.
This short video below is of course just one example;