I've got Penny (and myself) trained to have a nice interaction when she wants to be picked up. If she's in the swing and fussing I get really close to her and smile until she smiles before picking her up. When she's on the ground I wait until I see her little legs kicking to pick her up. Sometimes I just pick her up before she fusses at all if I see her doing these things. She's a cutie.
She signs milk sometimes. She's pretty consistent at knowing what I'm offering when I sign milk. It's cool watching her learn.