Alyssa Milano has gotten both support and backlash for posting pictures of herself breastfeeding her 1-year-old daughter, Elizabella, but the actress tells ET she won’t let the haters stop her!

“I don't care,” she says. “I'm going to keep breastfeeding, maybe even until [Elizabella is] 6!” Little Elizabella turned 1 this month.

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Milano noted the “crazy” difference between how people react to her pictures versus Miley Cyrus showing her nipple on camera at the MTV Video Music Awards. “Everyone's fine with her nipples being out,” she says. “I think people are more comfortable sexualizing breasts than relating them to what they were made for, which is feeding another human.”

WATCH: Miley Cyrus Exposes Her Nipple Live During the 2015 VMAs!

The mom is all about caring for her kids -- she also has 4-year-old son Milo. “When you have these babies, that connection is so meant to be and so profound,” she gushes. “You look at them and you go, 'Oh, this is why. This is why I went through everything in my life.’”

WATCH: Alyssa Milano SaysEx-Boyfriend Justin Timberlake and Britney Spears Were ‘Super in Love’

ET spoke to Milano as she promoted her new line of designer paper towels for Viva. She’s had plenty of messy mom moments, like when Elizabella recently got sick and threw up as the family was looking at potential houses in a favorite vacation spot.

“Thank God I have the husband that I have and that we laugh together about everything,” Milano says of her husband, talent agent David Bugliari. “[Elizabella] projectile-vomited all over the back of this realtor’s car.”

Four4Four: Kylie showing too much for fotog? Plus more on Alyssa's breastfeeding theory...