The reason dairies use teat dip isn't so the milk is sanitary... rather it's used to prevent mastitis. Predip helps clean the teats off and sanitize them, post dip stays on for a few hours so bacteria can't get into the teat canal. When you go to milk her, just wipe the teats off, keep your bucket clean (watch out she doesn't put a hoof in it, LOL), and then run the milk through the strainer when you get back inside. That's all I've ever done and I haven't gotten sick yet.
In your case, the calf's not going to like you real well if you leave iodine teat dip on the cow's teats... but since s/he will suck it off, putting teat dip on is basically a waste of money. I doubt it'd hurt the calf, it'll just be a waste of time and money to put it on. Best way for you to prevent mastitis to to keep her on pasture, or make sure she has clean dry bedding if she's penned up.
JMO, but I'd leave cow and calf together for at least 24-48 hours before starting to milk that heifer. Number one priority is to get her to bond with the calf. He should be able to nurse just fine as long as she has a decent udder on her, and milking her out isn't that big a deal for a few days. Won't hurt her to wait.
And... since I wear the "been-there-done-that" tshirt, I sincerely hope for your sake you have her already halterbroke and very used to being handled and worked around. Otherwise, well, you may have an interesting experience when you try to milk her. :lol: