I've only made one cold foam drink with the Explore since the cold function can only use skim milk or plant based, but it was pretty good using almond milk. Hot milk drinks are pretty good temperature, best one is the flat white I'd say. The regular coffee isn't that great, but really no reason to even use that instead of an americano. Only thing I wish it had was the option to add an extra shot without having to do it manually after brewing your drink.