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I had an other idea. Get a couple of hot pads put them on an outlet timer and put the towel between them. They will not heat the towel up to quickly, but they will hold it at a hot temperature, but...

Honestly a microwave would be about the fastest way to heat a towel up. If you got used to the microwave you could avoid to much over heating.

I would also use a low setting to more evenly heat...

It seems like many of the options have a possibility for overheating and possible burns.

What you want is something that will hold it at the desired temp and not heat it any further. You can get...