Halve and pit the avocado, slice into quarters and peel the skin. Discard the pit and peel.
Place avocado slices in a large glass with the sugar and mash, creating a paste. Whisk in the milk. For a more creamy texture, like a smoothie, place all the ingredients into a blender and blend until smooth.
Pour the avocado milk into two glasses and serve immediately.
One of the best things about avocado milk is that there are no hard or fast rules. I prefer my drink milky, with a few chunks of avocado in each sip. But some like it smooth and creamy. Also, feel free to experiment with your favorite soy or almond milk.