Now I can see those who live in the city having to kitchen compost and spend money on these things (though it's cheaper to make your own...just not as pretty I guess) but for the most part, anything you bury in the ground will compost. We have quite a bit of land and my grass and leaves all go into one pile. My kitchen scraps go into another and I cover it with the leaves and grass as well as dirt. I don't measure anything or add certain parts of this to that. I just dump it and then cover it. I always get a rich black soil. I use a cheap five gallon bucket I got from LOWES.
And yes, I add the milk in cereal bowls, I add any kind of left over food we have. I dump it and cover it....winter months I cover it with soil. About April I move over and start a new pile next to the winter one. At the end of the summer I take the old soil from my buckets and containers and that goes into the pile as well. I have been doing this before ever reading anything about it...
It really isn't rocket science.