Different labs around the world are trialing different things. Drinkable milk is definitely on the cards, but in NZ it seems the focus is on getting casein protein for making better vegan cheese and ice cream. There's an article talking with one NZ company here.

The milk, cheese, and ice cream is already being created and taste tested. The problem is the scale, it needs to be scaled up significantly from current quantities and this may be a challenge. But there are many places working on it, so it's likely just a matter of time.