Ayurveda recommends daily consumption of milk for all healthy individuals and for all ages, it pacifies vata and pitta dosha and increases kapha dosha.
Here are some FAQs about milk consumption as per Ayurveda:

1) When to drink milk?

Morning milk - this increases strength of body, provides nourishment and good for those who want to gain weight. If drinking milk in breakfast makes you feel lethargic, heavy, dull and causes acidity, then they should avoid milk in morning. 

Midday milk-  it increases strength, improves appetite, helps those who are suffering from difficult or painful urination and kidney stone. It is particularly recommended for children. 

Night milk- it pacifies all 3 doshas. There should be sufficient gap from dinner and have it at least 30 minutes before you sleep.

2) What can be added to milk?

Milk can be consumed plain.

Mishri, ghee, dates, saffron, turmeric, ashwagandha and shatavari can be added according to requirement. 

If someone finds milk heavy to digest then black pepper, ginger, nutmeg, cinnamon or cardamom can be added in milk, they also reduce mucus causing effect of milk.

Milk with shatavari increases breast milk in lactating mothers. 

Milk with ashwagandha induces sleep.

Milk with shatavari helps during menopausal phase

Milk with turmeric is anti-inflammatory, act as analgesic, improve immunity and relaxing. 

3) Warm or cold milk which is better for consumption?

Only warm milk is good, Ayurveda is not in favour of cold milk.

4) When to avoid milk?

During  fever, indigestion, cough, increased kapha dosha in body, diarrhoea, certain skin diseases and intestinal worms.