You haven't explained why you are asking this question. Suggestions will vary depending upon the cause of the coldness in the hands and feet. If you just came in from walking in the snow, and your toes are a little blue, my answer to you will be quite different than if you always have cold extremities even in the summer.
Our Yin Yoga practice doesn't generate any heat in the body, so if you want to really "warm up" you should stick to the yang forms of yoga. Sun Salutations, even
mini-sun salutes can get the blood flowing to the extremities.
There are conditions that cause the blood vessels in the extremities to contract, constricting blood flow resulting in cold hands and feet. One condition is known as
Raynaud's Disease. We don't fully understand the causes, at least in the Western medical paradigms but it stands to reason that if blood flow is lacking, increasing the blood flow can help, even if only temporarily. Some yin-like practices I would suggest are the
pawanmuktasanas. These simple practices can also get the energy flowing.
From an Eastern perspective, in the
Ayurvedic tradition, cold is a sign of vata (wind) imbalance. You may want to adopt some vata pacifying diet and lifestyle to see if this helps with a chronic condition.
Cheers
Bernie