See the FPN to Section 110.14 - Electrical Connections
FYI: First Revision #40 to the 2017 NEC will include mandatory language for tightening torque in a new Section 110.14(D):
110.14(D) Installation:
Where a tightening torque is indicated as a numeric value on equipment or in installation instructions
provided by the manufacturer, a calibrated torque tool shall be used to achieve the indicated torque value,
unless the equipment manufacturer has provided installation instructions for an alternative method of
achieving the required torque.