Place milk in a saucepan and heat to 150˚F. For the milk frother method, pour the hot milk into a heat-proof glass. Hold at an angle and turn on the frother. Move it up and down until foamy bubbles occur.
For the immersion blender method, add the milk to a blender cup. Blend until foamy. For the whisk method, add the hot milk to a bowl and use a whisk to vigorously whisk it until foamy bubbles form.