Usage patterns
牛乳を飲むto drink milk
I drink a glass of milk every morning.
牛乳を温めるto warm up milk
I warmed the milk in a pot to make hot milk.
牛乳を注ぐto pour milk
I poured milk into the cup.
牛乳が腐るfor milk to go bad/spoil
I left the milk out on a hot day and it went bad.