There actually are explicit cases: Leviticus 20:14 and Leviticus 21:9 prescribe burning as a punishment in certain scenarios (ancient Israelite legal code).
Leviticus 20:14 (KJV)
“And if a man take a wife and her mother, it is wickedness: they shall be burnt with fire, both he and they; that there be no wickedness among you.”
Leviticus 21:9 (KJV)
“And the daughter of any priest, if she profane herself by playing the whore, she profaneth her father: she shall be burnt with fire.”
