I want to know whether my daughter drank all her milk that I
have given gave it to her 10 minutes ago; should I say
Have you drunk your milk?
Did you drink your milk?
Have you finished your milk?
Did you finish your milk?
All the sentences are grammatically correct; the OP can use any of them in the context presented.
In BE, you use ony the present perfect for recent actions. So you don't use the past simple here.
On the other hand, Americans tend to use the past simple for recent actions, but the present perfect is also possible. So all the sentences are correct in AE.