Millsap will sign a contract with the G League's College Park Skyhawks on Monday, Sam Amico of FortyEightMinutes.com reports.
Millsap was waived by the Nuggets ahead of the 2021-22 campaign and will now head to the G League. He's made NBA appearances in three seasons and has averaged 2.9 points and 2.7 rebounds in 13.3 minutes per game during that time.