For me, the biggest issue was consistently getting good foam. This video (first posted elsewhere on HB) solved that problem for me.http://www.youtube.com/watch?v=2fC7nlLbvOs
That, plus another source I can't recall mentioning to stretch until the milk gets to approximately body temperature, and another source about not exceeding 155 F overall (proteins start to break down or modify, or something like that, affecting the taste and possibly the texture). I never liked the 'steam until the pitcher gets too hot to the touch' approach.
So I use a Decent thermometer with the alarm set to 143F, and the milk gets to 148-150F in the interval when shutting off the steam. Tastes great, no burn risk when drinking.