Making milk drinks at home without chasing cafe-level equipment

I like a cappuccino in the morning, but I'm not about to buy an expensive espresso machine just to steam milk perfectly. I have a stovetop brewer, a small milk frother and a willingness to accept something that isn't café-identical. What home method makes a satisfying milk drink without chasing professional microfoam? I'm interested in texture and flavor more than latte art.