Milukas was active in Lithuanian American public life, becoming co-founder and member of numerous societies and devoting his time to Lithuanian publications. He organized the Bishop Motiejus Valančius Library Society (), which published 10,000 copies of his book on how to learn to write in Tilsit in 1893. In 1894, he was co-founder of the Society of Laurynas Ivinskis which organized the Lithuanian exhibition at the World's Fair in Paris in 1900. Milukas created a poster showing the difficult cultural and educational conditions in Lithuania and exhibited his three-volume "Lietuviškas albumas", a photo album with explanatory text in Lithuanian and English, which was awarded a gold medal at the fair. In 1900, he co-founded the Motinėlė Society, which provided financial aid to Lithuanian students.