Why are you stressing so much over milk? If your concerns are about the nutrients in milk, there are tons of other sources. The best source for vitamin D is the sun--so lots of outdoors time. Calcium can be found in bone broths, leafy greens like turnip tops and mustard greens, fish, sesame, etc. Remember milk and dairy are not generally consumed in most of the world outside of Europe and America ;-)
Now if you're worried that she isn't drinking enough liquids, try giving your daughter water and other drinks in a regular (not sippy) cup. She's plenty old enough to drink from cups unassisted. There will be some spills in the beginning, but she'll grasp it soon enough. I suggest getting a non-breakable cup while she's still in the practice stages.
Although I personally am against "hiding" and "tricking" when it comes to foods, your daughter might enjoy smoothies and milkshakes with milk and fruit mixed together. We don't use dairy in my house so ours are usually coconut or milk with fruit (either frozen or add some ice) and no sweetener. This is much better for her than adding artificial flavorings and IMO it tastes better too :D