From experiance, they dont need much in the way of drying time. When I was doing digi camo, I did vehicles in pairs. By the time I did the other vehicle, the paint was dry on the first and I could go ahead and put the stencils down. I did on one or two occassions peel the paint off, but that was always down to me yanking too hard on the stencils to pull them off.
Also worth noting that the stencils were low tack