My dad once ordered a cappucino and they made him a really pretty one. It was the first time I ever saw it, so I watched how they did it and later tried it myself and it wasn't that hard. Turns out there are quite a few coffee artist; I'll show you some cute ones and a little video from which I think you should be able to learn it.
This is similar to what I can do and is probably seen most often.
I have no idea how you could make something out of milk that looks so lifelike.
Last but definitely not least, it might even be my all time favorite, it's so lovely:

And here's the video with lots of patterns to try: