A beverage, preferably milk, heating device comprising: a bottle holder with a cylindrical structure in which a bottle placement chamber is provided; and a magnetic drive device comprising a base having a fixed cylindrical portion, a drive means disposed on the base; and a magnetic transmission system that comprises a main drive assembly and a driven assembly located within and concentric to the main drive assembly; wherein the fixed cylindrical portion comprises a main body having a hollow structure with a closed end located at the lower portion of the main body to define a steam heating chamber in which the bottle holder is disposed; wherein the main drive assembly has a side wall with a plurality of first driving members disposed thereon, the driven assembly has a side wall with a plurality of second driving members disposed thereon, and the first driving members and/or the second driving members are magnets having magnetic properties; wherein the driven assembly, which is disposed inside the fixed cylindrical portion, is fixed on the bottle holder, and the main drive assembly is disposed outside the fixed cylindrical portion on the main body; and whereby the rotation of the main drive assembly around the outer wall of the fixed cylindrical portion causes the driven assembly to rotate around a central pivot point, which is located co-axial with the main driving assembly and the fixed cylindrical portion, by a force generated by the magnetic attraction or the magnetic repulsion between the first driving members and the second driving members; whereby the main drive assembly is driven to cyclically rotate on the main body by the drive means such that, by the cooperation of the main drive assembly and the driven assembly, the drive means drives the bottle holder to cyclically rotate in the steam heating chamber; and wherein the device further comprises a heating device for heating a bottle received in the bottle holder, said heating device being disposed in the steam heating chamber. a bottle holder with a cylindrical structure in which a bottle placement chamber is provided; and a magnetic drive device comprising a base having a fixed cylindrical portion, a drive means disposed on the base; and a magnetic transmission system that comprises a main drive assembly and a driven assembly located within and concentric to the main drive assembly; wherein the fixed cylindrical portion comprises a main body having a hollow structure with a closed end located at the lower portion of the main body to define a steam heating chamber in which the bottle holder is disposed; wherein the main drive assembly has a side wall with a plurality of first driving members disposed thereon, the driven assembly has a side wall with a plurality of second driving members disposed thereon, and the first driving members and/or the second driving members are magnets having magnetic properties; wherein the driven assembly, which is disposed inside the fixed cylindrical portion, is fixed on the bottle holder, and the main drive assembly is disposed outside the fixed cylindrical portion on the main body; and whereby the rotation of the main drive assembly around the outer wall of the fixed cylindrical portion causes the driven assembly to rotate around a central pivot point, which is located co-axial with the main driving assembly and the fixed cylindrical portion, by a force generated by the magnetic attraction or the magnetic repulsion between the first driving members and the second driving members; whereby the main drive assembly is driven to cyclically rotate on the main body by the drive means such that, by the cooperation of the main drive assembly and the driven assembly, the drive means drives the bottle holder to cyclically rotate in the steam heating chamber; and wherein the device further comprises a heating device for heating a bottle received in the bottle holder, said heating device being disposed in the steam heating chamber.