We report the optimal focusing of acoustic vortex beams by using flat lenses based on a Fresnel-spiral diffraction grating. The flat lenses are designed by spiral-shaped Fresnel zone plates composed of one or several arms. The constructive and destructive interferences of the diffracted waves by the spiral grating result in sharp acoustic vortex beams, following the focal laws obtained in analogy with the Fresnel zone plate lenses. In addition, we show that the number of arms determines the topological charge of the vortex, allowing the precise manipulation of the acoustic wave field by flat lenses. The experimental results in the ultrasonic regime show excellent agreement with the theory and full-wave numerical simulations. A comparison with beam focusing by Archimedean spirals also showing vortex focusing is given. The results of this work may have potential applications for particle trapping, ultrasound therapy, imaging, or underwater acoustic transmitters.