The OP could always follow PETA's suggestion and not drink milk at all. Problem solved.

http://www.peta.org/issues/animals-used-for-food/Cows-Milk-A-Cruel-and-Unhealthy-Product.aspx

The OP says people are deprived of vitamin D because they are afraid of lactose in milk. Here are lots more vitamin D sources. Problem solved.

http://ods.od.nih.gov/factsheets/vitamind-HealthProfessional/

If this doesnt suit the OP, he can also take the advise others have given and CHOOSE lactose free milk. Problem solved.

As a side note, I hate the taste of milk and it has not crossed my lips in years. I also have a slight lactose tolerance issue. I can eat rich yogurt, such as greek yogurt and real 100% cheese. But I cant get NEAR ice cream or "low fat" yogurt and cheese or melted cheese, such as on a pizza.