I can't find much about it but I found an example to illustrate it:
Do you want it heated? weblio
I don't understand how the dictionary form can have the meaning 'to want' and what is the difference with てもらいたいですか, てほしいですか, etc.
Based on what I know,
Instead of saying "want" (ーたい), it's more polite to say "shall I" (ーましょうか).
If you want to ask someone if they want something heated, it would be polite to say this: