People who suffer from frequent cold hands and feet often have poor circulation, i.e. reduced blood flow to the extremities. Any herb that improves blood flow and strengthens the capillaries can help reduce this problem.
The traditional method to warm cold hands and feet is a mustard bath. For this you mix 1 tablespoon freshly ground mustard seed with 2-3 liters of warm water. Alternatively, you can add essential oil of black pepper or just freshly ground black pepper to a bowl of warm water. Both mustard and pepper stimulate the blood flow to the extremities.
To improve circulation infuse dried rose hips for a herbal tea or add cinnamon, cloves and ginger to warm apple juice or lemon juice and water.