Quite a lot it depends on the goals, so a bodybuilding program meant for skinny guys trying to pull up some muscle mass will advice for very small periods of rest as compared to a bodybuilding program that is more meant for increasing strength.
During workouts, its not absolute weight that matters, rather it is the relative weight that counts. So, its more important as to how much difficult it is for your muscles. When you finish a set, your muscles should be totally exhausted. Starting a new set immediately is pointless. You should start your next set when your muscles have regained enough strength to give 100% to next set, but not so long that they have achieved 100% recovery.
For most people, this is normally between 1-2 minutes ,and if you need a precise amount of time, then you can choose with 1 minute of rest between sets and adjust later. You will pretty soon start understanding or feeling when your muscles are ready for the next set. Please remember that although you can easily play around and experiment with this time but you should not have a relaxed approach towards this limit. Keeping a time gap which is either too small or too large will surely hamper your muscle growth.
If the break is too short, then your muscles will still be too sore and therefore you won't be able to lift as much as you should. Also, waiting too long is bad as it decreased the relative muscle growth.
If you are looking for more information on resting time between sets then I suggest that you read "the musclehead guide", you can also read this the musclehead review.
You can also read about other top bodybuilding authors like Sean Nalewanyj and Vince Delmonte. These are all top bodybuilders and each of them have a highly successful bodybuilding program as per the need of user.