You can find this information, prepared by the HOK Planning Group, on page 45 of the final report of The Framework for Regional Growth.
There is further supporting evidence given in Once There Were Greenfields: How Urban Sprawl is Undermining America's Environment, Economy and Social Fabric by F. Kaid Benfield, Matthew D. Raimi, Donald D. T. Chen (New York: Natural Resources Defense Council, 1999, Chapter 3). Below is a quotation from this source.
"Although there are gaps in the literature and some differences in the order of magnitude of the results, the studies are overwhelmingly consistent in their conclusion that sprawl is a more costly form of development than compact alternatives."
The Natural Resources Defense Council, the publisher of Once There Were Greenfields, has a website that contains a lot of valuable information about sprawl.