Can I boil milk unattended (and still keep the pan clean)?
Boiling the milk in the microwave is the only way to do this "unattended", and that requires a lot of trial and error to get the time just right. It also won't work with many recipes that involve stirring anything into the milk while cooking. 

Out of the microwave, I use a non-stick pan, but even that requires scraping the bottom from time to time a bit to prevent solids from forming. (I use a rubber spatula for this.) I usually boil the milk on its own and and combine it with the rest of the recipe later.