Just like humans? I think not. Cows and lambs are mammals and as mammals their brains have some of the same components as other mammals. From that, we may assume that with those brain components come similar capacities, as found in other mammals whose brains also have those same components. So they feel pain and pleasure, fear and affection. But to call them sentient? They do have the capacity for certain "feelings" but to say they are "just like humans"? Not likely. Without the sapien brain they are not just like humans.
I for one do not argue that animals have feelings. Sometimes it's a soft, tender feeling. Sometimes it's more of a crispy feeling. It all depends on how long I leave them on the grill....