I've been making soap since 1999, milk soaps since 2000. Since we now have a milk cow, I've been making cream soaps.
I've got a soapmaking tutorial on my website (and one for salves also - check the "Lessons in Homesteading" link.)
edited to add that the soap recipes are now posted at above link
Give me a bit and I'll have some recipes posted.
If you have a lotion recipe you like already, substitute up to 10% of the liquid with goat's milk.