Do not do make menuconfig for every change you make to the sources, because it will trigger a full compilation of everything, no matter how trivial your change is. This is only needed when the configuration option of the kernel changes, and that should sheldom happen during your development.
Just do:
make
or if you prefer the parallel compilation:
make -j4
or whatever number of concurrent tasks you fancy.
Then the make install, etc. may be needed for deploying the recently built binaries, of course.
Another trick is to configure the kernel to the minimum needed for your tests. I’ve found that for many tasks a UML compilation (User Mode Linux) is the fastest. You may also find useful make localmodconfig instead of make menuconfig to start with.