Babies fall asleep on milk generally do not need to burp again, otherwise it will directly stimulate the baby, resulting in crying caused by vomiting, indigestion and so on.
Baby burping can be done in the case of awake after eating milk, to help relieve bloating, spitting up and other symptoms, but asleep is not recommended to burp, otherwise it will stimulate the baby, resulting in the phenomenon of crying and restlessness, and in serious cases will cause vomiting, choking, and other adverse reactions, you can try to let the baby lay on its side for a few minutes after the milk, and then supine sleep.
Usually try not to let the baby fall asleep after eating milk, you can wait until after the burp and then let the baby fall asleep, to help relieve indigestion.