Suggestions:
1) I have read elsewhere that creating the Kingdom of Burgundy is a good strategy for those starting out in the HRE.
2) Expand early before crown authority gets too high.
3). Inevitably some idiots declare independence from HRE. If you are fast, you can use your steward to get a claim on one county and conquer it. You have to do this before the HRE crushes them.
4) You can do the same to nearby kingdoms (e.g. France) when they have breakaways.
5) Well-timed marriages and assassinations to get other lands.
6) Look for weak Muslim counties to pick off.
7) Generate instability in the HRE. Assassinating the emperor can help.
8) Play in an area where things are not so smothering. Sicily, Iberia, and British Isles are pretty fluid. I started as a count in southern France. Even there, I have been able to expand. I've had my issues with crown authority there too, but I think it's less bad than the HRE.
You do have to be very opportunistic. Grabbing Genoa was pretty awesome for me, so look for that if it's around.