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In this paper we review results obtained in the searches of double beta decays to excited states of the daughter nuclei and illustrate the related experimental techniques. In particular, we describe in some detail the only two cases in which the transition has been observed; that is the <inline-formula><math display="inline"><semantics><mrow><mn>2</mn><msup><mi>β</mi><mo>−</mo></msup><mrow><mo>(</mo><msup><mn>0</mn><mo>+</mo></msup><mo>→</mo><msubsup><mn>0</mn><mn>1</mn><mo>+</mo></msubsup><mo>)</mo></mrow></mrow></semantics></math></inline-formula> decay of <inline-formula><math display="inline"><semantics><msup><mrow></mrow><mn>100</mn></msup></semantics></math></inline-formula>Mo and <inline-formula><math display="inline"><semantics><msup><mrow></mrow><mn>150</mn></msup></semantics></math></inline-formula>Nd nuclides. Moreover, the most significant results in terms of lower limits on the half-life are also summarized.