Water early in the morning or late in the evening to minimize evaporation. Or invest in a drip irrigation system. Drip irrigation uses a small amount of water and applies it directly to the roots, this also minimizes evaporation. Make sure to adjust your sprinklers to not be wasteful, watering your sidewalk or driveway.
When choosing plants, go for drought tolerant. Xeriscape gardens, or gardens that do not need watering after establishment, can be colorful and lush. They save water and require less time to maintain. They also attract butterflies and pollinators to your garden.