Removed Wire.endTransmission() for Arduino >1
Wire.requestFrom() will already send a STOP thus releasing the bus. (I also tried to keep the bus, so reads greater than the TWI/Wire buffer size would be simpler to write, but that didn't work yet.)

The removed Wire.endTransmission() started a new transmission by sending a START + ADDRESS and would send a STOP after receiving ACK. Without it you'll save a few microseconds.

readBytes() tested with the MPU-6050 DMP example on UNO using Arduino IDEs 1.0.1, 1.0.5 and 1.5.2.
readWords() tested with a simple demo for UNO reading values from another Arduino. IDE 1.5.2 was used.