Read the menu board
It may be above the counter or on the wall. English is not guaranteed, especially in very traditional places.
Not a milkshake bar. A bar mleczny is a cheap, canteen-style place for everyday Polish food — and one of the easiest local experiences to try.
SHORT ANSWER
You usually order at a counter, the menu is simple, prices are relatively low and the food is the kind of thing Poles associate with home cooking.
It may be above the counter or on the wall. English is not guaranteed, especially in very traditional places.
Some places hand you the food immediately; others give you a number, receipt or send you to a pickup window.
Take your tray, find a table and follow what everyone else is doing. In some places you return the tray afterwards.