The invention further discloses milk-coated tofu and a preparation method thereof, and relates to the technical field of food processing. High-quality soybeans with a protein content of more than 40%are selected for soaking, milk making, milk burning, coating, and pressing, and the milk-coated tofu can be obtained after plate turning of a lower wooden support. According to the milk-coated tofu and the preparation method thereof, solidification temperature (80 to 90 DEG C) and the pH value (7 to 8) of sour water tofu are strictly controlled in a solidification part, so that a gel network structure of the milk-coated tofu is more and more stable, the protein gel effect is good, and numerical values of sensory score, water retention, elasticity, and hardness of the tofu are constantly increased. When the temperature reaches 90 DEG C, the pH value of the sour water tofu is adjusted, the proteins in the tofu are quickly aggregated, then the elasticity and the hardness of the tofu are controlled to be greater, and the outer skin is appetizing, crispy, flexible, thin, soft, and delicious after being fried; and while stability of quality of a product is ensured, the need of mechanized precise control of the solidification can also be met, the prepared milk-coated tofu is thick and solid on the outside and fine and smooth on the inside, the technology is simple, and the nutrient loss is less.