Yes as others have said, its mainly your idle that controls your creep. Its like your ECU is giving a little gas to keep the car running, and if you were to change your idle, then you change the speed it creeps. Then you subtract the driveline loss like CDNsldr said.
My '02 Sport barely creeps at all, while my dads '00 SR5 wants to jump the line if you let off the brakes haha