We present an optimal field-free protocol for current-induced switching of a perpendicularly magnetized ferromagnetic insulator nanoelement on the surface of a topological insulator. The time dependence of in-plane components of the surface current, which drives the magnetization reversal via the Dirac spin-orbit torque with minimal Joule heating, is derived analytically as a function of the switching time and material properties. Our analysis identifies that energy-efficient switching is achieved for vanishing damping-like torque. The optimal reversal time that balances switching speed and energy efficiency is determined. When we compare topological insulators to heavy-metal systems, we find similar switching costs for the optimal ratio between the spin-orbit torque coefficients. However, topological insulators offer the advantage of tunable material properties. Finally, we propose a robust and efficient simplified switching protocol using a down-chirped rotating current pulse, tailored to realistic ferromagnetic/topological insulator systems.