Combine milk and eggs in a shallow dish. Add crabs, tossing to coat. Cover and chill 30 minutes.
Combine broth and next 6 ingredients; set aside.
Combine flour and next 3 ingredients.
Drain crabs; dredge in flour mixture.
Sauté crabs in hot oil in a large skillet 2 minutes on each side or until done; drain on paper towels, discarding oil. Wipe skillet clean.
Add broth mixture to skillet; bring to a boil over medium-high heat. Boil 1 minute; stir in cilantro. Serve with crabs over cooked rice noodles, if desired.