If using whole lobster, reserve the shells to cook the meat in, and use the body and claw shells to simmer in the milk. (health.com)
A simple boiled whole lobster recipe that anyone can follow. (grillinfools.com)
If you don't want to bother with whole lobsters (or can only get frozen lobster tails), here's a quick and easy way to grill them. (fieryfoodscentral.com)