We have studied about a data-driven thermal rendering framework for highly realistic re-creation of the thermal dynamics of real objects in a virtual environment. We begin with a physics-based model for thermal rendering and then extend it to compute the desired temperature of a thermal display without identification of the thermal parameters of real objects. We collect the thermal responses (heat flux, hand’s temperature profiles) between hand and object for many different combinations of the initial temperatures of hand and object, and then interpolate several real thermal responses to render virtual thermal stimuli with the target initial temperatures. We perceptually evaluated our framework with a discrimination experiment and an identification experiment, which both advocated the adequacy of our data-driven thermal rendering framework. This work is supported by Institute for Information & communications Technology Promotion(IITP) grant funded by the Korea government(MSIP) (HD Haptic Technology for Hyper Reality Contents).