You can use any milk, unless the recipe specifies a particular fat percentage. My husband and I don't drink milk, so I keep nonfat dry milk around and use that in baking (just add the dry powder in with the dry ingredients and use water in the amount of the milk).
I used the same recipe for two different batches of cupcakes at two different times. The first time I used half and half per the recipe, the second time I used 2% milk. We noticed no difference in taste, crumb, texture, moistness, etc. From now on I am using 2% milk because that and skim are the only two I have in the house.
I would really love to try goat's milk sometime. I have to find it first though. 
Thank you for the replies!!
Hrmmm....goat milk has a very strong smell though. My dad used to drink them
Darn! I have never seen nor smelled nor tasted goat's milk. I heard it tasted sweeter and was better for you - somehow. 
But the smell is probably why it isn't readily available at my local grocer. We have a natural food store nearby. I'll have to check it there.
Quote by @%username% on %date%
%body%