I would try a hot towel or tea towel and leave it on for a few minutes to soften the dried up bits then wipe it off as you pick up again. I do this all the time to my kitchen table which I regularly find dried ice-cream, vegies etc. Its so much easier then elbow grease. The heat softens it so it wipes of easily.
Only problem is if its spewed up breastmilk it will have abit of stomach acid in it and can strip the vanish off the floor if left there for a longer period of time so you might actually find even after you clean it up your lacure (can't spell) is lifting or that part of the floor appears faided. I had this with one of my spewers.