Do you do teeth? I would say bring the milk earlier so it's not the last thing before bed, and you can brush his teeth during or after bath. Then jammies in his room as you are, and instead of milk in the rocker you have cuddles, maybe a song or just talk to him a bit. If he's antsy to go to bed I say let him! Fwiw my DD wouldn't sit still for a book either until she was out of the crib, and now we get into bed with her and read together as part of the routine. That didn't happen until 2.5 though!