We propose a PIM-SM based IP-multicast routing framework for delivering heterogeneous quality of service to multicast receivers. We propose two tree construction algorithms: TIQM (relying on the full availability of tree-specific information about a multicast group) and NUQM (not requiring any tree specific information). While TIQM is able to compute pseudo-optimal QoS-constrained trees, it has a control-scalability problem. This problem is overcome in NUQM by restricting the amount of information used during tree computation. For realistic networks, under low to moderate network load and receivers' bandwidth requirements, performance of NUQM is close to that of TIQM. A QoS-extended intra-domain PIM-SM framework is also presented.