Take a foot bath with one or two tablespoons of mustard (available at any herbal or health food store. Then rub dry feet and put on with arnica oil and socks. Success guaranteed!
It is better not to warm cold feet with hot water. In the winter when the feet are very cold it can if you do it more often, leading to wintertoe. Better one minute in a cold bath and then dry. Cold water and friction bring the circulation going and when it's good you automatically get warm feet. Hot water ensures that the blood circulation is less. It might take a little longer, but with cold water, keep the feet eventually warm longer.