Taking care of my 10 month old teeth?

You should really aim to have her drink the milk before brushing her teeth or switch the cup to water instead. The sugars from the milk will sit in her mouth all night and make her more prone to cavities. If she's too sleepy to brush after the story then consider bringing a damp washcloth into her room at night and lightly rubbing her teeth after the milk. That should be just about as effective as brushing them at this age.