I measure melt my solid oils on low heat. While they're melting, I weigh my liquid oils.
I remove the solid oils from the heat before they are melted all the way and let the residual heat do it's thing. Sometimes I'll use a stick blender to get those last pieces that do not want to melt when I'm ready to pour the liquid oils into the melted solid oils (I lurves my stick blender!)
Next, I'll weigh out my frozen milk.
I freeze the milk in gallon zip baggies that have frozen on it's side on a cookie sheet.. It's easy to stack them in the freezer like this once they're frozen. Some folks freeze their milk in ice cube trays, then store the frozen cubes in freezer bags.
My frozen milk is chunked up into approx 1" cubes. The pot with the frozen milk is placed in a sink of cold water.
I then weigh my lye, then do the dump/mix method previously described. and pour imediately into my waiting oils.
My lye/milk solution is around 70* F and my oils are about 110*F.
Once I've poured my soap into the slabs, I insulate well with 2 wool blankets.
Yes, I let my milk soaps go into full gel.
No, I do not get brown or tan soap (unless the EO/FO is discoloring)
There are pictures on my soap making page
http://www.mullerslanefarm.com/soapmaking
Some oils help slow trace (lard and olive oil come to mind).
The challenge with soaping too cool when using a lot of solid oils is that you may experience false trace. This is when your soap solution is cool enough to start solidifying your solid oils. You may mistake it for trace, when it is not. You need to know the melting point of your solid oils. and stay above that.
When I started soaping, the recommended soap temp was between 125*-130* F.