For a single cup, start with cold milk that's a third of the jug in volume. Purge the steam wand then place around a ½ inch or 1.5cm into the milk. Open the steam valve. Lower the jug after a few seconds to introduce air to the surface of the milk. Key here is texture first, then temperature. Aim for a temperature of around 140-150F, or 60-65C. For non-dairy, try not to go over 130F, or 55C, as the milk can start to separate or curdle. Look for a velvety and silky-smooth texture.