While cooking 5 extra-stamina-wheel foods can be good if you want to burn through multiple wheels of stamina all at once (such as slow-time arrow shooting or very long glides), if you're going to be doing activities where you can stop and eat food halfway (such as climbing), the most efficient way to restore your stamina is to cook a single one of these ingredients by themselves, as any food that increases the maximum of your health or stamina (even if just by a little bit) will also fully replenish it.
With this in mind, while 5 Stamella Shrooms in a pot will give you two bonus stamina wheels (and will fully recover your normal stamina, effectively giving you three worth), if you cook each one individually and then eat it just as your stamina is about to run out, you can effectively get 5 or so stamina wheel's worth. If you've buffed your maximum stamina amount at all, the difference can get even greater.