Friction behaviour is an important characteristic of dynamic seals. Surface texturing is an effective method to control the friction level without the need to change materials or lubricants. However, it is difficult to put the manual prediction of optimal friction reducing textures as a function of operating conditions into practice. Therefore, in this paper, we use machine learning techniques for the prediction of optimal texture parameters for friction optimisation. The application of pneumatic piston seals serves as an illustrative example to demonstrate the machine learning method and results. The analyses of this work are based on experimentally determined data of surface texture parameters, defined by the dimple diameter, distance, and depth. Furthermore friction data between the seal and the pneumatic cylinder are measured in different friction regimes from boundary over mixed up to hydrodynamic lubrication. A particular innovation of this work is the definition of a generalised method that guides the entire machine learning process from raw data acquisition to model prediction, without committing to only a few learning algorithms. A large number of 26 regression learning algorithms are used to build machine learning models through supervised learning to evaluate the suitability of different models in the specific application context. In order to select the best model, mathematical metrics and tribological relationships, like Stribeck curves, are applied and compared with each other. The resulting model is utilised in the subsequent friction optimisation step, in which optimal surface texture parameter combinations with the lowest friction coefficients are predicted over a defined interval of relative velocities. Finally, the friction behaviour is evaluated in the context of the model and optimal value combinations of the surface texture parameters are identified for different lubrication conditions.