The truth is, there isn't any type of cow's milk that is totally cruelty free - unless of course you have custody of a cow and you can monitor personally it's and it's calf's welfare.
I know you don't even want to think about alternatives, but here's a blog I wrote on the issue:
http://www.unleashed.org.au/blog/2010-04/Milk-A-Rather-Sickening-Story
When I first went vegan, I absolutely hate, hate, hated the taste of cow's milk. But when it came down to it, I hated cruelty to animals even more. I couldn't bare to think of the day-old baby calves stripped from their mothers, driven in the freezing dark to the slaughterhouse, destined only for a lonely gun-shot to the head, while hearing its other brothers cry out desperately for their mother's help.
So, I went off all types of milk for a while - both animal and non-animal derived. A while later, I tried a few, and I still hated it. But a while later after that, I found Sanitarium's So Good Lite - I emphasise"Lite"! - and I found it fine over things like cereal and in tea.
I still don't drink it straight - I never drinked milk straight either. But taking it step by step (cooking with it, then having a little over ceral, then in some tea etc) got me use to it. And today I know I'm not financially responsible for maybe one of the most cruel things which happens to animals today.
Whenever you have milk, just imagine the baby calf. It won't take much time to get over it. You'll be right. It's one type of liquid out of a bazzillion others. You really will be fine!