A music video was shot for the single by Nino, featuring Amuro dancing inside a futuristic club.

[2] Musically, "Heaven" is a house song with influences of rave and eurodance and incorporates rap segments through the verses.

[5] Patrick St. Michel from The Japan Times commented that "nearly every track indulges in electronic trends, sometimes besting the American competition.

Random J commented, "UK and US radio could play "Hands On Me" or "Heaven" in between a Rihanna and a Pitbull track and nobody would question it or wonder 'What the fuck was that!?."

He also praised the production and highlighted the track as an album stand out, but had minor criticism towards Amuro's English pronunciation.

[12] The music opens with the song title and has Amuro dancing with back-up dancers inside a black and white club.

Intercut scenes feature a close-up shot of Amuro in a pink neon room singing the track.