DD is 24 months and still does not like cold milk! She does love cold vanilla soymilk. During the day she gets water to drink and a tall cup of soymilk before her nap. At night she gets a sippy cup of warm milk before brushing her teeth & going to bed.
When we are traveling we do the same - we use the little boxes of milk at night. It isn't "warm" but it is room temp. It doesn't seem to bother her. At night we pour the milk out of the box into her sippy cup (she is finally done with the bottle *yea!!*). It works great for us.
I for one am not a big fan of the disposable sippy cups. They leak and often pop open when tossed in a bag. I do use them at home on occasion but only when dd is sitting at the table. I've found too many puddles around the house where she has tossed her cup and I didn't see it right away.
It is a great idea to get her to use a straw for convenience at restaurants, etc. I would still carry a bottle/sippy cup all the time. You will want to have water readily available while waiting in lines, etc. Vacation is not a good time to make a major change in a childs night time routine - stick with the bottles/sippy cups at night.
~Kim