The
ACSM Compendium of Physical Activity lists the metabolic rate for a total of 822 activites, the majority of which (inlcuding the ones that interest people on here) are
actual measured data published in peer reviewed papers. The CPA was set up to be the go-to reference for precisely this sort of stuff, and includes just about every activity you care to think of, from running, cycling, walking, swimming etc, to washing the pots, watching TV, and even having sex. It's all there, all you need to do is look it up.
This is the Compendium
This is the covering paper that was published at the time the latest version was released in 2011
This is the page where you can download your own PDF copy of the table
Since energy consumption is proportional to bodyweight, the data are normalised and specified in
METs, one MET being one kcal/hour per kg of bodyweight (formally, it's 3.5 mL of oxygen per kilogram per minute, but the definition in terms of kcals/hr is a close approximation that's widely used because of its convenience). To calculate kcal/hour, multiply the METs by your weight in kg, and then to calculate kcal/mile, divide that by mph.
The data as tabulated are
population averages, if you want to improve the accuracy further you can adjust the figures to compensate for your own individual age, weight, height and sex. The details how are
here.
The CPA website says
"The 2011 Compendium table is available as a .xls (Excel) file upon request", whether they'll send it to individuals or only academics I don't know, I'd already cut & paste the PDF table into Excel before I found it. It might depend how many they get asking.
If you want a copy, my own spreadsheet's
here.
Put in your age, weight height & sex it will calculate your own personally corrected data for you, both in METs and kcal/hour.