It was probably Popular Science...
The article you saw was an earlier issue of Popular Science, I'd look it up, but I don't feel like going in my room. Anyways, warp travel doesn't mean always traveling faster than light. Their main purpose was to develop a more efficient and faster version of space travel than chemical propulsion, or even plasma.
In the conventional sense you can't travel faster than light. But to move over huge distances you don't have too. If you can manipulate space, bending it and such you can create a cosmic shortcut, traveling a long distance in a short amount of time, but not traveling excessively fast. It would be like taking a perfectly straight road from your house to the store, instead of taking a curving, turning, road, which would take comparatively longer. I'm sure if you look around on the internet you'll find interesting articles on the subject. Try warp drive, or advanced propulsion.