A method of forming a poppet valve having a stem, a valve head and a valve seat while concurrently maintaining compressive residual stress without grain coarsening on both the valve body and the valve seat. The method includes forming a rounded cladded part on the valve head of the poppet valve by welding and forming a valve seat surface at a predetermined aperture angle and cutting the cladded part to form a smooth surface which is subjected to uniform contact pressure at a temperature less than the recrystallization temperature of the base material or cladding material, whichever is lower, to enhance the durability of the valve seat.