You may also want to look at my new eBook (The Art of the Ankle Wrap, by Dave Martin) about a few different methods for stretching your ankle while you are running.
This is the most popular form of stretching. If you are running with the ball of your foot on the ground you may use an ice pack to help warm up.
For many people ice does not help because the ice will not have enough ice crystals in it to cause your muscles to contract properly. I usually do my warm-ups with a few ice cubes on my toes. Then I lay the ice pack down on the floor or on the floor in front of me. This keeps the ice in my body and keeps the air out of it. When I take a deep breath, I hold it for a long time. Then I start flexing the muscles that have just been flexed so that I can control my position. Then I go back to relaxing. This works best for me. If you are running, you can do it by yourself. But, if you are doing other things, you can learn the techniques for making the muscles go more.