in 1793 and was ordained into the ministry by the German Reformed Synod in Reading, Pennsylvania on May 17, 1794.

In 1825, he accepted the presidency of Queen's College after the death of John Henry Livingston, and convinced one of his parishioners in New York City, Colonel Henry Rutgers, a wealthy bachelor, to donate $5,000 to the college, creating a drive to reopen the closed institution.

[4] Reverend Milledoler was responsible for reorganizing the curriculum of Rutgers College into one that instructed in the liberal arts, offering courses in Greek and Latin, mathematics, philosophy, literature, political economy, and later lectures in geology, mineralogy and chemistry.

This increased dissension between the Church and the college and prompted Reverend Milledoler to resign in 1839, remaining on the post until the Trustees selected a replacement in 1840.

[5] He died on his birthday, 22 September 1852, while living at the home of his son-in-law, James William Beekman (1815–1877) on Staten Island.