Your question really should be broken in two.
1-What is the most efficient way of serving pages from a Java object?. There you have a clear winner in the Servlet. Althought if you are going to change the static content of the page often is going to be a pain because you’ll have to change Java code. The second place in speed is for JSP pages. But, depending on your application, the difference in speed between JSP pages and raw servlets can be so small that is not worth the extra work of servlet programming.
2-What is the most efficient way of accessing a database from Java?. If JDBC is the way you want to go the I’d suggest to pick as many drivers as you can (II,III,IV or wathever) and benchmark them. Type I uses a JDBC/ODBC bridge and usually has lousy performance. Again, go for the simplest (usually type IV driver) solution if that meets you performance needs.
For database applications, the performance bottleneck is usually the database, not the web server/engine. In this case, the use of a package that access JDBC with connection pooling at the application level used from JSP pages (with or withouth beans as middleware) is the usual choice. Of course, your applications requirements may vary.