I have a Giotto but the principles should be the same.
With mine I place the wand just under the surface and get a "ch ch" sound. I usually leave it there and the milk stretches and the tip ends up deeper in the milk. I have my jug resting on the giottos tray so it is not tilted at all. The steam wand does enter the milk at an angle though and the milk swirls around the jug. Sounds lazy but it works for me.
I can hear the sound the milk makes as it gets to temperature and pretty much steam by ear now.