We discuss the physical mechanisms of microwave heating of milk and infant formulas, and possible causes of nutrient degradation and scalds of infants reported in a number of papers. We list the advantages of microwave heating, formulate criteria of safe heating, and discuss discrepancies between different papers. A novel technique of microwave heating which prevents scalds and saves nutrients is reported. It features an appropriate and stepless microwave power control with direct temperature monitoring under forced permanent mixing. The discussed heating method does not kill live lactobacilli, has no influence on pathogen growth and does not modify the content of nutrients. We conclude that guidelines, which prohibit milk heating in domestic microwave ovens, are quite correct. Nevertheless, specific techniques of microwave heating can be successfully used due to their usability, fast heating, guaranteed precise target temperature and overall automation.