Ah yes, we have gas station convenience stores and fast food restaurants pretty much everywhere we travel, scattered so thick we can hit 4 or 5 a day without changing our course. Sorry about that, I completely forgot where you guys were for a minute!
We use shelf stable milk occasionally, usually soy milk but we've used regular dairy as well. If you don't already drink soy milk it can be... different. The chocolate powders mask a lot of the difference in taste. Hershey, Horizon, and a few other companies also make flavored shelf stable milks in smaller boxes, like juice boxes.