What is the correct milk temperature for frothing?

The correct milk temperature is between 140-149°F. An indicator that the correct temperature has been reached is when the pitcher can only be held for approximately 3 seconds. If the milk is not heated long enough, it will be warm with little froth, and if heated too long it will start to boil around 162°F and have a burnt taste with all froth lost. (Page 12)