Milch is a related term of milk.
As a adjective milch
is (dated) giving milk.
As a noun milk is
(uncountable) a white liquid produced by the mammary glands of female mammals to nourish their young from certain animals, especially cows, it is a common food for humans as a beverage or used to produce various dairy products such as butter, cheese, and yogurt.
As a verb milk is
to express milk from (a mammal, especially a cow).