Currently the average blocktime is ~ 14 s where a significant portion is just ~ 1 s. See my empirical asssesment here: https://github.com/rolandkofler/blocktime
If you run your private net you can change the blocktime or difficulty algorithm, but if you have only two nodes it should be rather fast anyway so I wonder if your setup has problems.
If you run on the public net then probably the best is to spend more transaction fees so that your transactions will be mined with higher priority.
With Casper, the Proof of Stack Algorithm, Blocktimes are expected to half again and be around ~ 7 s