I am working on a project which requires a valve(at 3-5V) that can be used to control (on/off) the flow of liquids such as water and milk. Can anyone please suggest a valve that are able to handle these fluids that would be consumed by a human?
I don't think that it will be easy to find a 3 to 5V valves. Since any solenoid valve will need a driver and external power supply (Arduino output can't directly drive a solenoid) you can use more commonly available 12 V valves with a MOSFET (+ diode) to control them. Certified food safe valves will be costly.
I found few miniature valves at 3 V and 5 V with orifice up to 2 mm. But they weren't food safe. Can you suggest any valves at this voltage with 1-2 mm orifice diameter?
Can you suggest any valves at this voltage with 1-2 mm orifice diameter?
Not really. Best I can do is a Google search that turns this up. Third row down on left is a 1/8" (3mm) 12v valve.
I found few miniature valves at 3 V and 5 V
Those are very likely to need a driver, too. The Arduino Uno (and other Arduinos) outputs can handle 20mA safely, so if the solenoid requires more than about 20mA you will need a driver. The kickback diode is required either way.
If you are building a machine for making coffee then there are cheap low voltage peristaltic pumps. They are slow, but the only thing in contact with the fluid being pumped is silicone rubber. The tubing supplied with the pump may not be certified for food use, but it should be easy to purchase replacement tubing that is.