well obviously if they are sparking/ arching out its time to replace them. I don't really thing there is a recommended time for them. Similiar to coilpacks, when they stop working they stop working.
generally speaking, a lot of times people start replacing wires when they are troubleshooting misfires/ no starts and etc OR they just feel like they should during a routine tune up where they replace, plugs, wire, cap and rotor.