why on earth would you be planning on giving her milk if she's allergic to it? As a parent of two dairy allergic girls, that simply doesn't make any sense to me. Rice milk is a good option, you can get vitamin fortified, but you have to increase the fat in her diet, since it doesn't contain what she'll need. Soy milk can be good in small amounts, too much and you have to worry about the estrogenic qualities of it.. nut milks can be good, but are often something your doctor will say not to give if there's a history of allergies in the family.
at 9 months old, food is more of an experiment than an actual need. Let her play with the textures, get used to it. If she's not chewing, stick with purees and soft, tiny pieces of food that she can't choke on. If she puts too many in her mouth, only give her 1-2 pieces at a time.
Sippy cups also aren't really a skill that all kids have at this age, they're also primarily experimental. Juice isn't really good for children anyway - too much sugar and not enough fiber. It's typically too strong for babies anyway... if you're going to try it, water it down, at *least* 50/50. Really, your best bet is to simply put water in a cup, have it available all the time, and let her figure it out over time.
basically, she's not developmentally ready, she doesn't need anything but formula (even food!) and she's *only* 9 months. Give her time, and allow her to be a baby for awhile.
about me: I'm the mother of 3 children - ages 2, 5 and 6.. and I was a nanny, preschool teacher, day care provider and babysitter for 15 years prior to having my children.