Sergeant Millsap began his police career with the Placentia Police Department as a Police Explorer in 1986. He worked as a Police Cadet for the Anaheim Police Department from 1990 to 1993. He was hired as a Reserve Police Officer for the city of Placentia in 1991 and as a full-time Officer in 1994. Sergeant Millsap worked as a Patrol Officer and a Detective assigned to the Gang Unit in the Special Enforcement Division. He was also an operator on the S.W.A.T. team. Sergeant Millsap was promoted to Sergeant in 2004. Sergeant Millsap worked as a Patrol Supervisor before transferring into the Detective Bureau where he worked as the Detective Bureau Supervisor. In November of 2010, Sergeant Millsap was given the opportunity to take over supervision of the Traffic Bureau where he is currently assigned as the Motor Sergeant.