The instructions and times I have found on-line for doing this are conflicting at best! I have experimented and there is no FDA (or any other governmental group) regulations on this so if you try it, do so at your risk.. as I am doing!

Here is what I have been doing and am finding the best results:
Fill 7 clean, sterilized quart size canning jars with milk to within ½ inch of the rim. Place brand new lids on and clean rings. Make sure to boil the rings and lids a few minutes first.

Put pressure canner on stove. Add 2 or 3 inches of water. Set your jars in the canner. Cover and turn heat on high. Let the canner vent for about 5 to 10 minutes (venting is letting the steam escape out the spout at the top of the canner). Put pressure weight on and bring the milk up to 5 lbs. of pressure. Turn heat off and let the canner cool on its own.

When everything is completely cool remove jars. The milk should still be nice and white, not caramelized as happens with the hotter temps. Some separating may occur but when shook it smoothes out again.

If you are doing this with a boiling water bath canner you can boil the jars of milk for 1 hour. But I am thinking you will have discolored caramelized milk due to the long processing time.

I had someone remind me that when milk is canned it looses it value as a raw milk product. I agree with this but have decided that at least my own home canned milk has not been homogenized nor are there any hormones in it, thanks to my organic eating goats!