The correct answer depends on the purpose of the page and how the styling is structured.
On the site I work on we have a few key pages where page speed is a key factor (the landing page where people can download our software for example), but we also want to cache our CSS for visitors that see more than one page or may come back in the near future.
You also rarely have only one CSS file, a common setup could be:
a css reset file
a template.css file with the general styling of the site shared by all pages
a per page css file defining specific rules for the page that don't need caching
a IEfix css file for Internet Explorer compatibility
the css reset, template.css and IRfix files are good candidate for minification as a single external file that will be cached.
The per page css file is a good candidate for inclusion into a tag since it is not meant to be reused and the cost of an http request is usually higher than the time cost of the bytes transferred.
If you have pages with a specific styling not shared across the site, inline everything.