This solution is fine if you prefer to manually control your fan speed as you see fit. But personally, I play full screen games that heat up the laptop quite a bit...I want the fan to go to 6000rpm when it needs to, and then calm down a bit when it doesn't (as 6000rpm can be quite annoying after a while). There is another solution that goes along the same lines, but instead of setting the fan at a defined speed, it increases the minimum speed. This allows it to bump up the fan when necessary, but never allows the fan to drop below the given value.
Use your terminal to locate the folder that contains smc, then use the following commands:
./smc -k F0Mn -w 2ee0
./smc -k F1Mn -w 2ee0
The "2ee0" sets it at 3000 rpm. Someone posted at the end of page 7 in this thread the actual values for the different speeds. I think this is a much more suitable solution for some people.