This is still done today with some premium milk in the US - e.g. Strauss milk: https://www.strausfamilycreamery.com/simple-faqs/what-should...

Our family gets its milk direct from a farm this way in upstate NY.

It costs about 50% more, but the quality of the milk is unbelievable and unlike most supermarket milk, we’re paying the producer a sustainable rate that yields them a profit.

Overall in New York, 75% of remaining dairy farmers will be bankrupt in a year or two.

AFAIK, you can still get daily milk delivery in rural Scotland. My grandparents certainly did through the mid-90s. Some homes even had a little door where the milkman could place the bottles straight into the kitchen.

That’s what we’ve been doing during the pandemic in the DC area: it costs about the same as buying organic milk at Safeway to get glass bottles delivered from a local creamery, along with cheese, bread, etc.