For the milk I use a french press with a glass chamber ($14.99, link below) that can go directly in the microwave for ~30 sec at a time until the milk hits the target temp. After stretching and texturing the milk with the plunger, I transfer into a prewarmed SS pitcher ($10.99, link below) for pouring latte art.

With practice and a few tricks, I'm able to consistently produce cafe quality microfoamy whole milk without special equipment:

https://photos.app.goo.gl/2j26vzidVvY9KpUA6

Latte art remains a work in progress ;-)

French press: https://www.amazon.com/gp/product/B077V9HNSF/ref=ppx_yo_dt_b_search_asin_title?ie=UTF8&psc=1

SS pitcher:

https://www.amazon.com/gp/product/B016ZOFTGY/ref=ppx_yo_dt_b_search_asin_title?ie=UTF8&psc=1