Can I boil milk unattended (and still keep the pan clean)? Many recipes call for first bringing milk up to boil.

I normally boil 1 quart (1 litre) of milk in a 3-quart stainless steel heavy bottomed pan:


use low heat
keep scraping the bottom of the pan every 1-2 minute 
Milk comes to a boil in about 40-45 minutes


In spite of my carefully watching the milk, at the end, when I pour of the milk, I see a "crust" form on the pan. This makes cleaning up a pain.

Further, it is hard to constantly watch and scrape the milk every 1-2 minutes.

Is there a more convenient way to bring milk up to a boil?

Looking for:


Unattended, fool-proof method
Easy clean-up at the end.


Yes, I am aware of this other question:


Quickest, and safest way, to bring milk to boil?


However, my question is a bit different.
Boiling the milk in the microwave is the only way to do this "unattended", and that requires a lot of trial and error to get the time just right. It also won't work with many recipes that involve stirring anything into the milk while cooking. 

Out of the microwave, I use a non-stick pan, but even that requires scraping the bottom from time to time a bit to prevent solids from forming. (I use a rubber spatula for this.) I usually boil the milk on its own and and combine it with the rest of the recipe later.