Let x = price of taco
Let y = price of glass of milk
"The cost of a breakfast taco and a small glass of milk is $5.10" translates to
"The cost for two tacos and three small glasses of milk is $11.80" translates to
We now have the system
Solve for y using the first equation
Use the third equation and substitute it to the second equation
Substitute the value of x to the third equation and we have
Since x is the price of taco, the cost of a taco is $3.50.