Heat flows from your hand to the can of soda. This is conduction of heat.
Heat is a form a energy that occurs as a result of temperature difference between bodies. Heat flows from one body to another in response to a temperature gradient between the two bodies.
When you bring a soda out of the refrigerator, heat flows from your hand to the can of soda. As heat is withdrawn from your hand, your hand feel cool. This is an example of heat transfer by conduction.
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