Milyika was born in 1958, in Ernabella, northwest South Australia. At that time, it was a Presbyterian mission for Aboriginal people. After finishing primary school here, she went to high school in Alice Springs, at Saint Philips College and Yirara College. She moved back to Ernabella after finishing school. She briefly worked at the community's craft centre, making hand-painted bookmarks and gift cards. She also learned to use batik methods, which had been introduced to the community in 1971.