Often, encouraging kids to be independent means giving them the simple tools to do so. Breakfast-making is the perfect example. My daughter is perfectly capable of pouring her own cereal. But reaching the bowls and hefting the gallon milk jug? Not yet.
For the bowl problem: I got an IKEA plate stacker which I now keep on the table. (Alternative, stack the bowls in a low kitchen cabinet.)
For the milk, I pour a single-serving amount into a large creamer I picked up at a garage sale for a quarter. If I remember, I do this in the evening so she can grab the milk out of the fridge in the morning. She loves to pour, I love to get out of the way as she makes her own breakfast.