Heavens, no . . . worms are not mammals with fur and everything! Their brains are so tiny that worms couldn't possibly know that they even have had young.
Mostly it is only the (mostly) furry mammals that have live young. There are exceptions, like certain reptiles and fish. Annelids, that is, worms, do not have live young.
The Coelom
No. Millipedes are myriapods, meaning "many feet". Centipedes are also myriapods. Segmented worms are annelids; earthworms and leaches belong to this group. Also, myriapods are arthropods; annelids are not.
Birds do not feed their young on milk. The lyrebird is a bird, so it does not feed its young milk.
No, a cod does not give its young milk. Only mammals give milk to their young, and the cod is a fish.
Parrots do not feed their young with milk.
Yes, raccoons feed milk to their young.
annelids
Are annelids vertebrate
Yes, they are mammals so they feed milk to their young.
Yes, bats are mammals and feed their young milk.
No, lizards do not produce milk for their young. They typically lay eggs and the hatchlings are independent from birth.