Go to your local pet store and get a product called "Nature's Miracle". If
they don't have that, ask for any enzymatic cleaner designed for pet stains.
I've used this stuff all over the house (I have a baby and a dog)...you soak
it in to the stain, give it a good scrub to drive it down in the fibers,
then let it dry. The enzymes basically eat the organic material (milk, in
this case) and, voila, smell gone.
100% success rate so far, with no evidence of post-treatment staining.
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