This is true in a few places, however, while a few towns do allow you to control your animal by verbal means, the language is usually much more restrictive than simply having perfect recall and will usually state that the animal must remain at a heel by your side unless being actively used for hunting or law enforcement activities.

Also, Milton Vermont is not one of those places, you must keep your dogs on a leash in public in the town of Milton. Here is the actual language:

"Section 4 Dog Running at Large/And Or Unlicensed
a. A person who owns, harbors, keeps or controls a dog(s) shall not allow a dog to run at large
off his/her premises on any public or private property"

"Section 3 Definition:
c. "At Large" shall mean off the premises of the owner and not under the control of the owner or member of his/her immediate family or agent of the owner, either by leash, cord, chain or other
appropriate means so that at all times the dog can be prevented from causing any damage, disturbance or annoyance."