You can use Realflow to simulate liquids and dynamics. Although it is expensive, it is supposed to work well in conjunction with Cinema 4D. A free alternative is Blender 3D. It has excellent fluid simulation capabilities, especially suited for something “simple” like a still milk splash. Blender 3D is more difficult to use than C4D; however, there are many tutorials on Youtube for fluid modelling with Blender. Once you have the simulation set up, you can bake it and export the mesh to Cinema 4D, where you can texture and render it.