Frank Rosebrook Millspaugh (April 12, 1848 – November 22, 1916), was the Bishop of Kansas from 1895 until his death.

He moved with his family to Ithaca, New York, when he was still a child and then to Faribault, Minnesota, in 1857.

While there, he attended the parish schools and was under the tutorship of the Reverend James Lloyd Breck.

He initially served as a missionary in northeastern Minnesota, after which he was dean of Trinity Cathedral (Omaha, Nebraska) from 1876 to 1886.

Between 1886 and 1894 he was rector of St. Paul's Church, Minneapolis, Minnesota, and then dean of Grace Cathedral in Topeka, Kansas.