Duo sign in with Millers
Hylton made over 200 appearances for Aldershot, his only previous club, and netted a hat-trick against Steve Evans' side in the FA Cup in January. Milsom, who can operate in defence and midfield, started his career with Fulham.
Evans said: "I am absolutely delighted to eventually be in the position to have got Danny and Rob.
"It has taken a little longer to get both signatures and until we had both I was fearful they would have been snatched elsewhere. Both lads have got great ability and will greatly enhance what we have in the squad."