No, you can use any milk type you have.
However, Nespresso recommends using refrigerated whole or semi-skimmed milk for optimum milk froth.
It is best to avoid using flavored, powdered, reconstituted, and specially enriched milk as they are not ideal for milk froth.
Moreover, do not use chocolate powder, sugar, syrup, and other additives since it may damage the milk frother’s coating.