Drinking milk won't make you taller but drinking milk helps build strong bones which can help with your height.
If you want to grow big and have strong bones as an adult you need to drink plenty of milk as a toddler, child and teen and even continue drinking enough milk as an adult.
Milk contains calcium which is essential to growth and strong bones.
The milk helps you grow at the proper rate but it does not make you grow to a certain height.
The height you will grow to is determined by genetics and if your father or mother is tall then you'll likely be tall but you may also be shorter.
But sometimes you can grow taller than both your parents.
My brother is about 2 feet taller than his mom and dad.
He drank lots of milk as a toddler, child and teen but that was not the factor into what made him that tall.