I'm not super impressed with the average doctor in the USA these days, but most decent pediatricians tell parents to give kids whole milk. If they are remotely educated on nutrition beyond decades old medical school knowledge, they are aware that current guidelines state that the additional fat soluble nutrients in whole milk are great for kids.
My son's pediatrician told us (when he was 2), "don't even waste your time with anything other than whole milk. Otherwise you get all of the sugar with little of the vitamins"