How do I negotiate a job offer?

I am about to graduate from college and have been looking for a job. I have internship experience and have worked with their software many times before so should not need to be trained much.

I have gotten an offer but it seems really low compared to what I was hoping for. I have been offered $56,000 for starting and was hoping for closer to $65,000 with a minimum of $60,000. COL, where I am, is 8-10% higher than the national average so still MCOL I think.

Are my goal salaries realistic for a first full-time job? How should I approach asking for more?