I have the B&O H6 Gen 2, and they were my main HPs before buying the AudioQuest NightHawk and NightOwl.
It's really interesting how perceptions differ, because I would have never called them warm. Quite the contrary, I'd describe them as open, clear and more on the light side, not really cool, but not warm.
I had the Sennheiser Momentum 2, which I would have called warm.
I compared the two over several weeks, and where the Sennheiser was warm and intimate, the B&O was on the more transparent side.
In direct comparison, the bass of the Sennheiser was much fuller, but kind of loose, the mids were foreward and intimate (great with Diana Krall) and the highs smooth but maybe a little recessed.
The B&O had a much leaner and drier bass, mids sounded a little more distant, less intimate but more realistic and "faster" and treble was more energetic, without being overpowering.
What won me over for the B&O was in the end a more realistic reproduction, especially with piano strokes they just sounded much closer to the real thing (I used to play the piano a long time ago...)
In terms of comfort and portability I actually liked the Sennheisers much better.
After I got the NightHawk and NightOwl I stopped using the B&O, and the NightOwl is now my main headphone.
That's what I call warm, the NightHawk even more so. Very good soundstage, the NightHawks almost sound like listening to stereo speakers in a room, the NightOwls a little less so but still very good.
So I guess we all hear things differently