I only milk once a day, in the mornings. And leave the kids with mum all day (by the time they're old enough for me to be milking, I shut them the other side of a mesh partition overnight).
I have a full-time job away from the house, with variable end times, so this system suits me and the goats. And since there's only me, that's still more milk than I can drink, when two of them are milking.
I use an
Udderly Ez for milking, have done for years. It's a hand pump, has been robust, you can get spare parts. For me it speeds things up because I milk straight in the bottle, the bottle goes in the fridge, job done. No filtering or anything. No long tubes to clean, and if someone else has to milk occasionally for me, it feels much the same to the goats.