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Well-managed chickens are the answer, but for their eggs and not necessarily for slaughter except when you're having to manage population.
Egg layers, in general, are likely the best option for a constant meat source for meals. Chickens, Emus, etc. But, you're going to have to micromanage them to get a good, constant, reliable source. I wouldn't recommend that, opting instead to supplement your egg stock and occasional slaughtered animal with hunted animals.
Cows = No opinion, really. I always go for Mufalo and/or llama with retrievers/huskies if available and whatever might self-tame. (All depends on the biome, of course. Tried out snakes/lizards, once, for eggs... didn't work out very well.)
Mufalo = Awesome all 'rounders. Can't "Haul" but make decent pack animals, give milk and wool and don't take crap from Raiders. :)
Using zones, set your milker to only interact with cows in one location. I prefer the barn, which I aircon down to a toasty -1c
This causes all the milk to be dropped in one spot, which happens to be a fridge that preserves the milk indefinitely.
This way you lose a teensy bit of milk production due to late milking, but you save a heck of a lot of hauling inefficiency.
Are you saying to confine the cows to the bar, confine the animal handler to the barn or there's something else you're suggesting that I'm missing?
The animals naturally go to the barn at night, as their sleeping spots are there.
Or, if you prefer daylight milking you can manually toggle their zone to BarnOnly, for milking as needed.
As for the milker, just setup his zones so that the cows' grazing pasture is forbidden to the milker, this will prevent him from milking and dropping it on the grass out there. as the milker is often also the animal tamer, it also prevents him from wandering out the the far reaches of your pasture to refresh-tame one cow. He will get plenty of both milking and taming opportunities when the cows are in the barn, thus much less walking.
Remember that once you have zones setup, you can change a LOT of cows' zone in an instant by going to the animal control screen and click-dragging on the zone selectors for multiple cows.
I'm leave the milk where it is. Haulers take it to the foodstorage (or sometimes drink it ... ♥♥♥♥♥♥♥ otters)
Morkonan is right that chicken eggs and Muffalo milk are generally the most productive use of hay, and that only gets better if you are in a biome where the Muffalo can graze for much of the year. The actual numbers are on the wiki:
https://rimworldwiki.com/wiki/Property:Egg_Laying_Interval
https://rimworldwiki.com/wiki/Milk
Though cows give more milk more often, they give no secondary product and they won't fight raiders. I've tried both and I seem to get more use out of Muffalo, they seem to last longer and are much easier to replace.
I posted up the math once, but I think then I was still thinking milk worked like a protein source, but it counts as a vegetable for fine/lux meals iirc. Eggs work like meat though, so your colony could theoretically exist on milk and egg based Fine Meals if you get your herd/flock numbers right.
I'm pretty sure I did this once, but I've been looking for a reason to start a new game, so I think I'll give it a go. The game I'm in now my colony is trying to live off angora rabbits, and that's a big no-go from me.