the video "The Yogis of Tibet" which is referenced by the original poster does show "Trulkhor" or physical yoga exercises relating to the Six Yogas of Naropa. These do relate to Tummo practice. They are not, however, tummo practice.
Lama Yeshe's book is a great book, and it presents Tummo as practiced and understsood in the Geluk lineage, based on the Naropa's lineage, as filtered through Tsong Khapa's commentaries. It is really a transcript of teachings given to students. If you read it, you will note there are pre-requisite practices for tummo. You'll also notice that there are several places where the author's wish is that a student who is inspired by the text will search out a master and receive transmission in person.
I can only say that, with this sort of practice, this personal transmission is really essential. You can read the book, watch the video, and try to do the prayers, visualizations, breathing exercises, and physical exercises yourself, of course. You may have some experience, even....or you may get bored, or dizzy, or try a "Beb" and hurt yourself in jumping up and down, trying to land in lotus position.
If you really want to learn and practice tummo in a meaningful way, you need a master's personal transmission, and some supervision, at least initially. But, after all, I too am just some guy on the internet, so.....