Professor Milsap teaches courses on African American Church history at DePaul University in Chicago. She has taught and directed urban theological programs at the Seminary Consortium for Urban Pastoral Education (SCUPE) and its Center for African American Theological Studies. She is a past executive director of The Night Ministry, an organization which addresses housing and healthcare issues. She is the co-editor of Slamming on Concrete: Poems by homeless youth in Chicago. She is pursuing her doctorate degree at Northern Illinois University, where she is researching Black women in ministerial leadership.