Musannaf Ibn Abi Shaybah 23746 — People who pass by camels

Sayyiduna Abu Sa'id al-Khudri (may Allah be pleased with him) said: It is not permissible for anyone to use the milk of someone's she-camel without permission when her udders have been tied, for the tying of her udders is her seal (that is, nothing may now be used from it). If people run out of provisions and become destitute, then call out to the herdsman three times. If he answers your call, take from him and drink. Otherwise, let two men hold it, milk it, and drink.