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Milhausen was born in Kitchener, Ontario and raised in Collingwood, Ontario, on Georgian Bay. She decided at a young age to become a sex educator. She cites fellow Canadian sexologist Sue Johanson as a role model.
She received a bachelor's degree in psychology and a master's degree in human development and human relations at the University of Guelph in Ontario and went on to earn a Ph.D. at Indiana University, with a minor from the Kinsey Institute of Human Sexuality .
In 2003, she won the outstanding student research award from the Society for the Scientific Study of Sexuality.
In 2004, she began hosting the talk show Sex, Toys & Chocolate on Life Network and Discovery Health in Canada. Since the show began, she finished her Ph.D. and engaged in a post-doctoral fellowship in 2004-05 at Emory University in Atlanta and during this time commuted to Toronto several times a month to tape the talk show. In 2005-06, she engaged in another post-doctoral fellowship at the Social Justice and Sexual Health Research Centre at the University of Windsor. In 2006, she became an assistant professor of sexuality and family relations at the University of Guelph.
Milhausen is the resident sexologist for the Canadian talk show Steven and Chris.
She was married in late 2004 to Steve Jett and gave birth to a son, Leo, in 2006. A daughter, Molly, followed in 2010.
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