I wouldn't worry about the milk. As one other poster pointed out, I would look into a different yogurt. I used to give my daughter the YoBaby as well, until I saw the sugar content! EEEK!!!! I then switched to plain organic yogurt and drizzle honey on top and mix in. She loves it. Sometimes, I add some jam or something to change it up.
Milk is NOT needed for good nutrition. There are plenty of other sources of calcium. Carrot juice, legumes (navy beans, pinto beans etc...) make a soup, puree it...whatever. You could also do a liquid vitamin. There are some good ones out there.
Vitamin D is essential.... not only for good development but keeping us healthy. When it's sunny out, then a few minutes out in the sunshine (unprotected ... so obviously not for 30 minutes!) is great! Otherwise, Carlson's makes a liquid vitamin D supplement. 1 drop. That's all. I have been giving it to my daughter since she was 5 months old during the fall/winter months. (as recommended by her pediatrician) We're too covered up during those months AND for most of the Northern Hemisphere the sun is not direct enough during those months to provide us with the exposure we need even if we weren't covered up!
Do a little digging, there are tons of ways to get good nutrition into our kids. AND, if you start early with REAL food ... and not just resorting to purees and what not that you buy off the shelf and have been sitting there for who knows how long, then your baby will learn the taste and texture of real food and not be so picky.
Good luck!