I have been able to bring bottles, milk, juice, etc for a baby or toddler, as long as it was sealed. You can always play the "my baby needs it" card and I think they have to let it through. One TSA kept asking me "Does your baby NEED it?" and giving me the *hint, hint* look, lik, lady, seriously, just say YES and you can take it through! I finally realized what she was doing and said, "oh yes, he needs it!" and she let me through.
But others are right. It depends on the airport, and the TSA agent working that day. You just never know.