Serious Eats - seriouseats.com

Whole milk is easier but skim can be heated to a perfect texture as well. Ultimately that is the goal: a warming to the milk via steam and heat that results in a creamy texture full of tiny microbubbles. Follow these steps directly and you will be fine.

1. Make sure both the milk and vessel you are using to steam are both cold.

2. Put the milk into the vessel. Put in roughly 40% of the volume of the container. The milk needs room to grow. A cappucino will require a larger pitcher then a macchiato because you need less milk.
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3. Begin to steam the milk with the wand angled to cause a vortex in the milk when spun. The bubbles should never get big when you are steaming milk. The spinning of the milk while steaming ensures that there aren't any large bubbles.

4. Place your hand on the outside of the steaming vessel. As soon as it is just beyond too hot to touch, it is done.

5. Knock the jsteaming vessel on a hard surface to knock out any large residual bubbles resting under the surface. Shake the container in a circle to continue the spinning process.

6. Pour out a few ounces of steamed milk. The first few ounces are too frothy to create a rosetta.

7. Loosen your wrist and slightly shake the pitcher left and right beginning at the base of the cup. Continue pouring while shaking less and less.

8. Do that 1000 times and you may be able to make a rough version. Good Luck!