Density refers to the measure of how much of the substance occupies a given volume at a given pressure and temperature
grams per milliliter or g/ml is the derived unit that is usually used to express the density of liquids.
In measuring the mass of a liquid, they use grams or kilograms, and uses liter, milliliters and cubic centimeters to measure the volume.
There are a lot of measuring tool that has been produced in the market. Like measuring cup, volume glassware commonly used in the laboratory.