Assuming animals like seals: Calves feed just like a human baby would. By suckling on the nipple, which draws the milk from the mothers body. The nipple has enough pressure to prevent milk from just leaking out. Most marine animals have milk that is much higher in fat then human or cow milk as marine mammals typically need to develop a thick layer of blubber to insulate themselves, and provide buoyancy.
As for what it tastes like, I couldn’t say.
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