I just toss some peppermint oil into some baby oil, or olive oil. Feels lovely and the peppermint aids in blood circulation.
That said, most people don't just have peppermint oil laying around your house, but you can pick it up at any herbal specialties store, and even some drugs stores for like $5 an oz. That sounds expensive, but it's super concentrated. Seriously one or two drops per 8 oz of carrier oil or water and that's all it takes.
Alternatively, you can infuse cinnamon into baby or olive oil as well, just heat on the stove with cinnamon sticks, and let simmer for a couple of hours. Just be sure not to make it too strong or it'll irritated your skin.