W.B.
Replace the bedtime routine with a new routine of book time reading/ reading time with cuppy. Find a special place to put cuppy before you put daughter in her bed. If necessary, replace cuppy of milk with cuppy of water and explain that this new cuppy needs to go with her and the other special cuppy needs to go in special place with the books. After one victory, a child can begin a new routine. Soon, the books with mom or dad or caregiver will replace the the security that the cuppy gives. After a new routine is established, figure out how to fit in teeth brushing after milk. Perhaps this is could be the special place to put milk cup...beside the toothbrush? Make teethbrushing and book reading a special time...soon, God willing, cuppy won't be "missed".
I wish you the best.