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I have two that have different allergies. The oldest is allergic to milk and the youngest is allergic to peanuts, tree nuts, and sesame.

When my youngest was ready to transition to whole milk, my oldest was about 2.5. I made sure they have very different cups (the youngest uses a straw cup, the oldest uses a sippy cup). And then we were very vocal about what everyone was drinking: "Here's your hemp milk, Xander! Here's your cow's milk, Logan!" I also sat them across the table from each other so they aren't able to reach each other's cups.

Now at 3 and almost 5, they still have very different cups and if I get them the wrong cup, they'll just swap them.

ETA: I also remember saying a lot things like "Xander can't have cow's milk because he's allergic. That's why he has hemp milk." At almost 5, Xander knows he's allergic to milk and he'll even ask "Does that have dairy?" when he's given something new to try.