IMHO, Tie those legs down until she learns that she's going to get milked no matter what. Eventually she'll learn that it's a whole lot better to just stand quiet and let you get it done with. It will be an exercise in frustration and aggravation until she settles down. You should also handle your doe kids from birth, all over, especially their udder area, mouth, nose, ears, etc. so they come to expect/accept it as normal and not something to freak out about. Helps down the line.