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Millman taught visual art in Philadelphia public schools for many years and is now a student teaching supervisor at Moore College of Art & Design. She is also currently a teaching artist working with the Print Center Artists in Schools program in Philadelphia public high schools. She is a liaison for the Picasso Project, part of the Philadelphia Commission for Children and Youth.

As a Philadelphia teacher, Millman was active in her school community. She created curriculum focused on art history and culture, interdisciplinary curriculum and curriculum inspired by travel fellowships including Fulbright Hayes fellowships to India and South Africa. She was involved in team teaching with language arts and social studies colleagues. While teaching in Philadelphia, she created curriculum for the Philadelphia Museum of Art that she presented at the Pennsylvania Art Education Association conference. Millman has published articles in Art Education Journal and Children's Literature in Education journal. She is a working artist and has exhibited her work locally. In 2019 she won a first prize award at the Long Beach Island Foundation for Arts and Sciences Plein Air Plus exhibit. In 2017, she won an award for Best Still Life at the Philadelphia Sketch Club Small Painting exhibition.