Can baking soda or citric acid help clean a pot with burned-in milk rice?
The hotter the water, the more likely it will be to remove burnt-on starch. Not only does $\ce{NaHCO3}$ raise the boiling point of the water, but it also helps saponify fats (actually, "washing soda", $\ce{Na2CO3}$ would be better).

However, you still need to do a lot of scrubbing afterwards to remove the carbonized layer.