I remember once or twice, cooking on top of a Kerosene heater, during a power outage. Fun times.
Some work quite efficiently for just that, and are indeed made with that in mind:
The tops are made to set a pan on. The missus and I have a number of these, both for collection, and for emergencies. Running a pair of them will heat an entire floor of most homes. Mostly we'd use a stove I built for cooking duties though. It's a coleman 3 burner suitcase style stove that will run on propane, coleman fuel, or kerosene.
We generally keep ten or more gallons of kero, 20 or more gallons of white gas (coleman fuel/camp fuel) and several gallons of Kleen-Heat on hand, just in case.