You don't need that in Norwegian. You'd say "en kopp melk" or "et glass jus", but the preposition is often omitted. If you wanted to, you could say "en kopp med melk" or "et glass med jus", but it's not necessary to include it. In fact it would be unnatural and should be avoided.
This rule is mostly for cups and glasses, any other container would likely include 'med'.