After looking into different methods of making coffee I feel this is an area of interest, along with coffee shops.
So I had a go at making the simple hot milk coffee I looked at previously.
I mixed coffee with sugar and a teaspoon of water. It got a lot lighter in colour but didn't get exactly frothy. I think hot water would be better for this stage.
I then added milk I had heated in a pan and mixed.
The coffee I made in a smaller mug got much more frothy so quantities clearly do matter.
This was really nice, creamy and tasted more like a coffee shop coffee than your usual instant coffee.
Using A Cafetiere
This produced a very strong coffee that tasted more like the coffee you get in coffee houses.