I've always used powder and whilst I do like the idea of using milk, for me personally I prefer the results with powdered milk.
One other thing I have done is replaced sugar with honey which does give a different 'bite' to the bread but does work well (weighed 1:1). Doesn't last as fresh for as long but that says more about sugar to me.
Not sure if anyone else finds this but I get quite different results depending on order of ingredients. I do: yeast, flour (I do 50/50 loaf), salt, sugar (or honey), butter, powdered milk, luke warm water.
I'm still using an old Panasonic maker but really would like to get one of the newer ones with seed dispenser, plus the change in design to a deeper unit would suit my kitchen more.
Still, it's something I'd never be without and we make it as easy as possible by having ingredients all ready in kilner jars so takes literally 2 minutes.