To masturbate or to be masturbated or to be given a blow job. As heard in the Katy Perry song, "California Gurls".

In some kid friendly performances, she will say "melt" i.e.: the today show, where it is obvious what she is saying.
However, in other performances i.e.:SNL, it will be more obvious that she is actually saying "milk" and will accompany the line with a hand jerking motion.
In the video she pops her cheek to suggest a blow-job.
Why don't you go milk your popsicle in the corner?

She's going to milk your popsicle like a pro.
SMcCrab tarafından 4 Kasım 2010, Perşembe

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