Present Perfect - The children have drunk milk (already).
Past Simple - The children drank milk (yesterday).
Past Progressive - The children were drinking milk (while I was brushing my teeth) .
Past Perfect - The children had drunk milk (by the time I came into the kitchen).
Future Simple - The children will drink milk (tomorrow).
Future Progressive - The children will be drinking milk (this time tomorrow).
Future Perfect - The children will have drunk milk (by 8 o`clock).
в скобках даны продолжения предложений для уточнения времени.