When do I use the '-ing form' of a verb (sleeping) and when do I use the 'to-infinitive' to sleep?

+ 'ing-form'

Some verbs are always followed by the 'ing-form',

can't help, dislike, enjoy, fancy, (can't) face, mind, practise, (can't) stand, suggest, consider, miss, avoid

I can't stand doing maths homework.

Some verbs are always followed by the 'to-infinitive',

Agree, ppear, ask, attempt, want, decide, expect, hope, plan, refuse, pretend, promise, seem

I've decided to buy a Rolex. I want to have a watch that won't break.

Some verbs can be used by either the 'ing-form' or 'to-infinitive'. There is not much difference in meaning,

Begin, bother, continue, hate, like, love, prefer, stand

He started to talk so fast that I couldn't understand a word.
He started talking so fast that I couldn't understand a word.