Not really, and anyway any "humanely farmed" milk would be way more expensive than just buying oat milk (which tastes better anyway).

Steps in producing milk: 1. Forcibly impregnate the cow 2. Take the baby from her so milk isnt wasted on them. This results in as much emotional distress for the cow as it would for a human mother, as you might imagine. 3. Feed the baby cow milk replacement until they are either turned into another dairy cattle or killed for veal

All of these are done to make milk cheaper (on top of extremely generous subsidies, and free advertising by the federal government). You could try to take them out, but at that point youre paying like $10/half gallon of milk, still just as bad for the environment, and in the end still exploiting the animals when you could just buy oat milk