Milgrom has taught a variety of courses in Economics. In the 1990s, he has developed a popular undergraduate course on The Modern Firm in Theory and Practice, based on his 1992 book with John Roberts. In the early 2000s, together with Alvin E. Roth, Milgrom taught the first graduate course on Market Design, which brought together topics on auctions, matching, and other related areas. The market design course has served as a basis for many similar graduate courses across the US and around the world, and has helped jump-start the field of Market Design.