Steaming milk with a steam wand:
Always start with cold milk.
If using a steam wand, experiment with the depth of the wand and how close it is to the edge of the milk container.Where you place the wand affects the milk’s texture.
It takes practice to get an even texture, so be patient and enjoy your experiments.
If you don’t have a steam wand or milk frother, you can steam milk on the stove top.
Put cold milk in a sauce pan—making sure there’s room for the foam.
Put the stove burner on low heat. (If you’re using an electric stove, heat the element before putting the pan on it.)
Whisk the milk.Whisk faster as the milk heats.
Don’t let the milk boil.
Once you have enough foam, remove the pan from heat.
Source: http://www.hometownlife.com/news/ss/INSPIRE%20111512.pdf