I've experimented with this for 2 winters and to my surprise it's almost trivial.
You'd think you'd have frozen feet but it doesn't work that way. Your feet are warm and the blood is really moving because you've been hiking. It's not like stepping out your front door and dunking your feet in a cold bucket of water.
I carry a pair of Crocs, or very light mesh shower sandals.
At the creek I strip off my shoes and socks, roll up my pant legs or take them off if it's really deep, put on the Crocs and just walk across.
There's an initial feeling of cold, then a bit of numbness, and then it just stays that way until I'm across. The streams, you understand, are only a hundred feet wide or so at most. We're not talking about a major river crossing.
On the other side, the first time I did this, I had a towel ready, shoes and socks ready and to my surprise, 15 seconds after I stepped out of the creek, my feet were warm. I sat down and had lunch still in my Crocs! Never used the towel.
This gets a bit more complicated if there's a lot of snow. The snow sticks to your wet feet and makes them colder as you land on the far bank. I'll generally put down a pad and either sit or step on that while getting my socks and shoes on.
Several folks have gone out with me and faced the grim, cold creek crossing. Some, including my wife and a backpacking friend gave it a try and were surprised at how little discomfort there was. 'Is that all there is to it?'
We do it regularly now. We actually seek out creek crossings.
Several others simply balked at it, and one fellow, determined to cross his own way, straddled a downed sycamore. It made for an interesting story when he fell in up to his armpits.
I recommend the Crocs or shower shoes. 30 seconds later you'll wonder what the fuss was about.