Can few drops of breast milk transmit hiv and can rubbing penis in lackting nipple transmit hiv?

No to both. People worry about breast, milk or nipple fluid contact because nursing mothers can transmit HIV to their babies. However, even that is pretty low risk: By 6 months of age, swallowing a few ounces of milk every day, only 15% of such babies are infected. The risk is zero for the trivial amounts in exposures like this. Don't worry about it.

If it is sucked -yes but not on an uninjured penis by rubbing only, It requires exchange of bodily fluids to cause HIV