He is the author of eleven books, including Our Like Will Not Be There Again, Northern Latitudes, Last Places, An Evening Among Headhunters, A Kayak Full of Ghosts, Lost in the Arctic, and Fascinating Fungi of New England. His work has also appeared in Smithsonian, National Geographic Adventure, the Atlantic Monthly, Sports Illustrated, and Islands. He has won numerous awards, including a Northern Lights Award, a Lowell Thomas Award, an award for the best article on Canada in a U.K. publication (1996), and a Pacific- Asia Gold Travel Award; he has been anthologized in the Best American Travel Writing (Houghton Mifflin) three years in a row.
Millman holds a Ph.D. in Literature from Rutgers University. A fellow of the prestigious Explorers Club, he has made over 30 trips to the Arctic and Subarctic. He has discovered a previously unknown lake in Borneo, and there is a mountain named after him outside Tasiilaq in eastern Greenland.