Update: May 2020: What a difference 10 years makes! That’s how long it has been since I found the website below and never tried it out! I’m glad! I just recently canned my first batch of milk and used a completely different method.
After researching, I discovered a much easier (and more appealing) method (which I found here).
Home Pressure Canned Milk
Fill your pressure canner with about 2 inches of room temperature water. Do not turn on your burner yet. Then fill your clean and sterilized room temperature jars with just about room temperature milk. Wipe the rim of the jars with vinegar (to eliminate any possible fats or liquids). Place your lid, then ring on the jar, hand tighten, then place in your pressure canner. Once the canner is filled, put your lid on and turn the burner on medium-high to high. Once a steady stream of steam is shooting through the vent, set your timer for 10 minutes (if you want to always can properly. I almost always forget this step and just put the weight on the vent). Place your weight on the vent, then when it gets up to pressure (sea level is 10 pounds), turn off the burner (if you have an electric cook top, move the canner to a cold burner) and let the pressure canner sit until the pressure gauge reads zero. Remove the weight, the lid, and place the jars on a towel covered rack to cool. After 24 hours, remove the rings, wash the jars, label and store in a cool, dark place. These should be good for 1 year.
Now is the time to learn techniques that have been safely used for decades before the USDA eliminates this knowledge altogether.
Here’s the original link for canning milk (which produces a much more “cooked” milk).