
According to the sheet music published at by EMI Music Publishing, "Milkshake" has a moderate beat rate of 113 beats per minute. Andy Kellman of AllMusic compared the song's suggestive lyrics to " Nasty Girl" by Vanity 6, " In My House" by Mary Jane Girls and " Touch It" by Monifah. A manjira sample resembling an order-up counter bell is used throughout the song. Unlike many urban pop songs, which rely on drum machines, the beat consists of a lone darbuka playing a rhythm similar to a belly dance. The song's riff was described as "blaring synth-funk". The line was referred to as a "sexy, euphemistic playground rap" by MTV News. The song is noted for its chorus, in which Kelis sings "My milkshake brings all the boys to the yard". "Milkshake" is an R&B song, and Joey Rivaldo of described it as a "low beat dance song". It's what gives us our confidence and what makes us exciting." When asked about the meaning of the song, Kelis told The Observer that "It means whatever people want it to it was just a word we came up with on a whim, but then the song took on a life of its own." However, in an interview with the Associated Press, she likened one's milkshake to one's self-confidence: "A milkshake is the thing that makes women special. Phil Tan mixed the recordings at Right Track Studios in New York City.

Recording sessions took place at Hovercraft Studios in Virginia Beach, Virginia.

When making the song, Kelis "knew right away that it was a really good song", and she wanted it to be the album's first single. The song was conceived when Tasty was chosen as the album's title. "Milkshake" was written and produced by Pharrell Williams and Chad Hugo, known collectively as the Neptunes. The song was nominated for a Grammy Award for Best Urban/Alternative Performance in 2004. "Milkshake" was certified Gold in the United States, where it has sold 883,000 paid downloads. Elsewhere, the single topped the charts in the Republic of Ireland and peaked inside the top 10 of the charts in Australia, Denmark, Netherlands, New Zealand, Norway, Sweden and the United Kingdom. "Milkshake" peaked at number three on the US Billboard Hot 100 in December 2003, becoming Kelis' highest-charting single to date. According to Kelis, "milkshake" in the song is used as a metaphor for "something that makes women special." The song is noted for its euphemistic chorus and low beat R&B sound.

It was released as the lead single from Tasty in the United States on August 25, 2003, by Star Trak and Arista Records, and internationally on November 24, 2003. Written and produced by the Neptunes, the song was originally offered to Britney Spears for her fourth studio album, In the Zone, but was rejected and given to Kelis instead. " Milkshake" is a song by American singer Kelis from her third studio album, Tasty (2003).
