We always try to have a cow that we milk for the house as we are so far from a town. As English people we have to have milk in our afternoon tea at 4pm whilst we think wistfully of our Dear Queen.
Our current cow is a Red Angus / Fleckvieh Simmental cross. A big girl, and not the kind of cow, to look at, that you would associate with tethering and hand milking. She could probably pull a plough.
The best way is to halter them from the first week. Leave the halter on them, the leather ones are best for this. Take them for walks every Sunday afternoon like a dog, lead them around and be firm but kind and in no great hurry. A long job, but it pays off in the end, a cow that is this tame is so much easier to do anything with, plus we are the milkman's worst customer!