back in the 1800's they had these handy things called bedwarmers. (metal irons or pans they heated and slipped into the covers at the bottom of the bed ) my wife and I use this same idea, in the camping athletic department there are these nice instant heat packs. we take 4 of them open the packs and place them just under the sheet where our feet are. then for 10 hours our feet are toasty warm. you can also buy the reusable ones in the health and beauty aid department. we use those too , here in NY it can get to below zero in the winter. A relaxing bath also warms those toes and feet up on these cold winter nights. my wife and I do enjoy feet massage but our respective comfort isnt depended upon the other, if one is not available we massage our own feet and find other avenues for comfort of our cold feet. one of our improvising is placing dry rice in a sock tying the end and heating it in the microwave, tucked under our feet we can have a self massage while keeping our hands free for other things like holding, reading to our children on these cold days\nights.