Dr. Millsap holds a Doctor of Musical Arts degree from The University of Memphis with a minor in Conducting, a Master of Music in Performance with related studies in Jazz from the University of North Texas, and a Bachelor of Music in Performance from Wichita State University.

Dr. Millsap has performed with such artists as The Temptations, Johnny Mathis, the Jimmy Dorsey Orchestra, Jon Mayer, Rufus Reid, Vincent DiMartino, and Kirk Whalum. He has also performed with many orchestras, including the Memphis Symphony Orchestra, the Orquesta Sinfonica UANL (Monterrey, Mexico), the Wichita Symphony Orchestra, the Corinth Symphony Orchestra, and productions with Ballet Memphis, as well as jazz ensembles such as the Jazz Orchestra of the Delta and the Memphis Jazz Orchestra.

Comfortable on stage or in an orchestra pit, Dr. Millsap frequently performs for Memphis-area theatres and has played for the national tours of Chicago, A Chorus Line, Dreamgirls, High School Musical, The King and I, My Fair Lady, South Pacific, and Young Frankenstein, and for several regional theater performances, including Mid-South regional premieres of: Buddy: The Buddy Holly Story, Curtains, The Drowsy Chaperone, Hairspray, Jerry Springer: The Opera, The Producers, The Wild Party, as well as many others. He can be heard on the Southern Comfort Jazz Orchestra recording Voices, released in 2007.

In addition to his work at The University of Memphis, Dr. Millsap is on the faculty at Murray State University, where he has taught as an adjunct professor in the trumpet area since 2008. He has been a clinician and applied instructor in Kansas, Kentucky, Tennessee, and Texas. He has frequently been asked to serve as an adjudicator for the West Tennessee TMEA auditions.

His primary teachers in include David Spencer, John Holt, Judith Saxton, and Kevin Hartman. Dr. Millsap is a member of Pi Kappa Lambda National Music Honor Society.