Much of his early life included active pursuits like modern dance and martial arts and later trampoline, tumbling, and gymnastics.
[citation needed] During his senior year in high school, he won the United States Gymnastics Federation (USGF) national title on the trampoline.
He was the last male athlete to perform for the college on the high bar; he had his best-ever routine and perfect landing which clinched the team title.
[citation needed] In 1968 he was voted Senior Cal Athlete of the Year; he graduated with a Bachelor of Arts degree in psychology.
[citation needed] During Millman's tenure at Stanford, he trained in aikido, eventually earning a shodan (black belt) ranking; he studied tai chi and other martial arts.