Is there an optimal design for sail boats? The answer is the same for airplanes or cars: no. But, by large, the design principles have been worked out after many thousands of times of experiments. For speed, do Catamaran, otherwise, go for an variation of Sloop. (Note that I am no longer talking about sailing for commercial purposes, like fishing or cargo.)
Clearly, the biggest element is the sails themselves. For that, the sail area is the dominant design factor. The larger the sail, the more wind power to harness, the faster. Unfortunately, to increase sail area, you need taller or more masts that weigh down the boat. Then you must consider the material of the sails: how heavy and durable they are. Lastly, how would the boat operate under different wind strength and directions? Modern design and material technologies essentially make single mast the optimal choice. We have light and sturdy material to make a tall mast. We also have good material for light and strong sails. There are also a rich set of motors and tools to reduce muscular demand in operating a boat. (You can now set a boat to “auto pilot.”) If we add the economic factor, Sloop became the winner of modern sail boat design.
The ideas are simple: a triangular-shaped sail is easier to control; raise the mast for the more power; add a jib to harness more wind, particular upwind; add Spinnaker for downwind. Everything else is about “tuning” it for different purposes: comfort, speed, ease of maneuvering, etc.
Sloops have one mast that closer to the bow. To its fore hangs a head sail, or jib. Aft of that is the mainsail, with a boom at the bottom. This is the classic Bermuda rigging. Steel cables stabilize the mast. Hulls can be fiber-glass or wood. Put down a keel/rudder design at the bottom.
The location of the mast is a critical design point. The mast is heavy and affects the center of the gravity. When the wind is blowing side way, the sails, in combination, should have the minimal rotational torque on the hull to minimize “weather helm” that slows down the boat.
Cutter is essentially a Sloop with two foresails. To accommodate them, the mast usually moves back to the center of the boat. An extra foresail create another set of control sheets and complicates the control. But it also harness the wind power more efficiently.