Gelation of milk proteins is the crucial first step in both cheese and yogurt manufacture. Several types of milk gels are discussed, with an emphasis on recent developments in our understanding of how these gels are formed and some of their key physical properties. Areas discussed include the latest dual-binding model for casein micelles; some recent developments in rennet-induced gelation; review of the methods that have been used to monitor milk coagulation; and a discussion of some of the possible causes for the wheying-off defect in yogurts. Casein micelles are the primary building blocks of casein-based gels; however, controversy about its structure continues. The latest model proposed for the formation of casein micelles is the dual-binding model proposed by Horne, 1998, which suggests that casein micelles are formed as a result of two binding mechanisms, namely hydrophobic attraction and colloidal calcium phosphate (CCP) bridging. Most previous models for the casein micelle have treated milk gelation from the viewpoint of simple particle destabilization and aggregation, but they have not been able to explain several unusual rheological properties of milk gels. Although there have been many techniques used to monitor the milk gelation process over the past few decades, only a few appear attractive as possible in-vat coagulation sensors. Another important aspect of milk gels is the defect in yogurts called wheying-off, which is the appearance of whey on the gel surface. The factors responsible for its occurrence are still unclear, but they have been investigated in model acid gel systems.