We used to keep and milk goats. We would drink the milk raw and make butter and cheese. I really dislike the smell of goats, but I never found their milk products to be objectionable in any way.
If the doe is milked into those half moon pails so that the milk stays spotlessly clean, and then it is properly strained and cooled quickly, I think it's as mild and delicious as cow's milk.
A former neighbor of ours used to make the best soft cheeses from his goat milk.
Now that I'm thinking of it, I kind of miss our goat.