In PA, a dairy farm can get certified for raw cow's milk and then sell it legally. In MD, no way can anyone sell raw milk for consumption. I have dairy farming relatives in both states.
IDK the current regs for goat's milk. Last I knew is was prohibited in PA, but legal in MD. Apparently, they have cleaner, better goats there (just kidding, it's probably the legislators that differ in cleanliness).
The whole area of farm produced food regulation is in a horrible state. Lobbyists for agribusiness use "health" concerns to restrict competition and ensure that all farmers act more or less the same, so the smaller ones can get slowly driven out of business by the big guys. Americans pay way too little for food (and energy, IMO) and so we are wasteful and go for the more processed options rather than learning basic food skills. I take heart in the "localvore" and organic/non-GMO movements, whether they are right or wrong, at least they are making openings for innovative ideas in agriculture.
If I become president, my slogan won't be "a chicken in every pot", but rather "a flock in every yard"!
Don't give a man a chicken, teach him to raise his own chickens!