We found out about our son's allergy when he was 8 months old, and he's almost 3 years old now. I don't know if your child still has milk allergy, but I know it can be very limiting. Our son has an allergy to casein specifically, and he can tolerate at least some amounts of whey.
Here are some of his favorite foods:
--Eggo mini waffles and french toast sticks (only have whey in them)
--unfrosted Pop Tarts
--Earth's Best mini meatballs
--chicken nuggets (Earth's Best, Banquet, Perdue Simply Smart, Great Value, etc. (check labels for other brands))
--kidney beans (yep, plain kidney beans)
--honey-roasted peanuts
--popcorn
--chips
--vanilla wafers
--fish sticks (check ingredients)
--Nature's Bakery fig bars (best value is at Sam's Club)
--raisins
--Annie's graham bunnies
--fruit snacks (I usually buy Mott's Medley's (made with fruit and veggie juice))
--graham crackers
--Lance whole grain cracker and peanut butter sandwiches
--different kinds of crackers
--Veggie Sticks (the crunchy kind you can find near chips at Walmart, local grocery stores, at Sam's Club, etc.)
--Great Value honey buns (just the glazed ones)
--cereal (usually give him off-brand cheerios)
--oatmeal
--yogurt (Silk yogurt and So Delicious yogurt)
--fries
--hamburgers
--fruit (grapes and clementines especially)
I haven't bought any for him yet, but Oreos are all milk-free.
If you're struggling with veggies, try fruit and veggie smoothies (banana, frozen fruit, spinach, a spoonful of orange juice concentrate, and a nut-based milk (or rice milk))