My guess is if you want to race them then use a kayak paddle since it is in the water twice as much as a canoe paddle. One guaranteed way to get the speed your boat offers you out of your boat.
If you want something more maneuverable and just ease along for most of the trip use a canoe paddle. I relate the speed of a boat to the fact that a speedy boat is a easy paddling boat , less effort expended to move it threw the water compared to a boat which takes some work to make it go. As I said , the Sasquatch is one easy paddling canoe and if you want to catch up to someone it will do it.
If you will take a close look at the picture you will see that bow wake and all the turbulence behind the boat , including a wake out from the sides of the canoe.... Also look at the water from his paddle strokes , he is really pulling on that paddle. If he paddled it all day that way the would be exhausted. He is causing more resistance to work against then necessary for an enjoyable paddle down some river ... it does make a nice picture which I am sure was the whole idea behind it.

Chuck.