OR kill none of them because they are designed to only run when needed. Apps that use GPS are a little different, but a compass arrow shows up on top of the screen when they are running. You may gain back a little bit of memory, but that's only needed when when things start to feel a little slugish (only happened to me a handfull of times since iOS 4 came out.
Apple put a lot of thought into their multi-tasking in iOS. It may not allow for ultimate freedom, but it does very well for the way it was designed.