What I found to work for me is I dont have a certain set in stone scedule of days. Instead, if the muscle is still sore and the day comes where the schedule says it's time to hit it agai- I don't.
I wait until the soreness is gone, then I hit it. Some people are going to tell you to work through it but you'll soon find out that the soreness means the muscle isnt ready for more work and you wll be weaker than you thought on your lifts, and you won't be able to get that extra 5lbs on each lift for than next workout.
More likely than not, your previous session's weight will seem far heavier than you remembered it being just a few days ago and you will then get a complex because it will seem like you are actually losing strength- this would be because you're hitting it again too soon.
The smaller stuff like biceps and triceps and delts definitely will recover much faster and you'll notice that while you may only be able to realistically do a heavy bench press, squat, and deadlift once per week, you can definitely hit the smaller muscles more often than this.
If you are hel bent on sticking with a m-w-f or upper-lower-off-repeat routine you'd better do it heavy-medium-light/ heavy-light style because there's no way you're going to be doing 10 sets of 3 on the bench with 90% 1RM 3 days a week without being in constant pain and making no progress.