He has been on British television in Crossroads, playing Max Samson, in Chalk and in Secret Army. He also appears in the 1985 motion picture Santa Claus: The Movie, in which he can be seen seated next to the chairman in the court room at the trial of the character BZ. In 2006, he guest-starred in the Doctor Who audio drama The Reaping, while in 2007 starred in an episode of Lewis. Milligan also appeared in an episode of Midsomer Murders entitled Country Matters.
Stuart has also done voice-over work in such video games as Desperados: Wanted Dead or Alive, Rocky Legends, Farscape: The Game and, more recently, Pac-Man World 3. He also portrayed Mr. Green in the CD-i editions of the boargame Cluedo (1994-95) (later remade into a CD-Rom game in 1997). He also did voices for the english dub of Robin Hood no Daibōken as well as portray The Riddler in the BBC audio dramatisation of Batman: Knightfall.
He played General Randy Badger in Episode 3 (The General) of the BBC Scotland comedy Gary Tank Commander, which aired on BBC 2 Scotland on Saturday, 5th December 2009.
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