He was born in the Sandtown-Winchester neighborhood and attended Carver Vocational Technical High School.
After graduation, he taught art in the Baltimore City public schools for two decades before returning to MICA for his MFA, which he received in 1987.
Miller turned the traditional Baltimore crafts of painted screens and furniture into platforms for the exploration of history and race through color, whimsy, wit, and design.
"[2] From 1991 to 1998, commissioned by the Mayor's Advisory Committee on Arts and Culture, he created six murals on themes related to racial pride and the Black community.
His work is in the collections of the Baltimore Museum of Art, the Maryland Historical Society, the Reginald F. Lewis Museum of Maryland African American History and Culture in Baltimore, MD; the National Museum of African American History and Culture in Washington, DC; and the David C. Driskell Center at the University of Maryland, in College Park, MD, among other institutional and private collections.