Miss Millie's Kitchen | Black & LGBTQ+ Owned Soul Food & Desserts in Aurora

Miss Millie's Kitchen is a welcoming soul food restaurant and dessert shop known for its diverse offerings that include classic comfort foods, specialty cakes, and fresh fruit-based treats. As a Black-owned, LGBTQ+ and women-owned establishment, it prides itself on creating a casual, family-friendly atmosphere that is also inclusive and transgender safe. The venue accommodates dine-in, takeaway, and delivery options, making it convenient for different dining preferences.

The kitchen serves a variety of local specialties spanning breakfast, brunch, lunch, and dinner, with a focus on flavorful, Southern-inspired dishes and satisfying desserts. Prices are moderate, reflecting the quality and care in preparation. The operation includes a mobile catering service with customizable self-service options, suitable for private events and larger gatherings. On-site wheelchair accessibility and free parking options enhance visitor convenience.

Miss Millie’s Kitchen accepts reservations and multiple payment methods, providing flexibility for a range of dining experiences. Whether seeking a quick bite or a full meal, guests will find a menu that balances traditional soul food with sweet treats. For those interested in exploring the complete assortment of offerings, the full menu is available for review through the dedicated menu page.

Delivery
On-site services
Takeaway
Dine-in

Lunch
Dinner

Wheelchair-accessible entrance

Credit cards
Debit cards

Candis Jenkins

15/02/2026

I discovered this food truck through a friend on fb. I have been back so many times since then. Chef Shawny's food is amazing. I haven't liked any fish since elementary school but her whiting and catfish is sooo good. I'm also not a fan of bananas but I've had her banana pie and it's delicious. You can't go wrong with whatever you order from her. I swear I can taste the love in her food. Whether it's a seafood boil, cabbage, red beans and rice, fish or whatever it will be great. You will definitely get your money's worth as well.

Creatiionz & Treatz

07/02/2026

Great service! I work for Amazon and we booked Miss Millie's Food Truck & Catering to come up twice! First time she came out at 5:30am no other food truck would accommodate us at those hours but she did! Our employees raved about the food and we were so happy! We cannot wait to have her back. The chicken Cajun pasta and banana pudding was so amazing and her food truck was so cool, super clean and her little helpers were adorable!

Aisha Kindred

06/02/2026

Miss Millie had did the dessert table for my daughter's baby shower. The theme was Stitch and the main color was blue. She had decorations for the table that went prefect with what we had. The dessert was amazing and the cake was delicious.

Britt Newsome

02/02/2026

This place is amazing. They catered for a party of 16 people. Easy communication beforehand, the food arrived on time with a very polite delivery person. THE FOOD IS SO GOOD. Shrimp and grits, chicken and waffles, fried catfish, wow! We ordered a large carrot cake which was the best carrot cake I have ever had. We also ordered a banana pudding cake which was the best cake I’ve ever had. Really impressed with Miss Millie.

Ryan Collins

12/01/2026

We used Miss Millie's to cater my soul food craving wife's Baby Shower. They were absolutely amazing. Their food is no joke, it was fantastic. The caterer was always super responsive, answering all of my last minute questions, and went out of their way to provide an excellent service. I couldn't recommend more. P.s. try the Mac n Cheese.

Alyssa Clapham

09/01/2026

Although the funnel cake that I ordered today was a bit burnt tasting I enjoyed it because of the topping. My catfish meal was phenomenal though so much flavor in the whole meal. I will be purchasing again. I forgot to take a picture I was so hungry.

MK Lennon

01/01/2026

When visiting our daughter in Denver we were able to enjoy an effortless and delicious Thanksgiving dinner thanks to Miss Millie’s Kitchen. Ordering was easy via email and electronic payment options. The food was delivered hot and on time and everything was prepared well. We are picky eaters and the turkey, ham and sides were all wonderful. Thank you for making this Thanksgiving so amazing!

Mandy Adams

15/12/2025

What a wonderful experience!! We live in Utah and wanted to have cupcakes delivered for our nephews 13th birthday in Aurora...which was not an easy task during this epidemic! Then we found Ms. Millie's, and how lucky we were! I contacted her, and the entire conversation was courteous and professional, she said she would arrange delivery for us...then my flaky butt forgot to get back to her with the flavor for 3 days! Well to my surprise, she was still able to make not only 1, but 2 delicious flavors and deliver them to him with less then 24 hours notice!!! Seriously a life saver! He received them, was so excited, and they LOVED them! The whole family said how delicious they were, and said at first they thought 24 was way too many, but then they tried them!! Lol Ms. Millie and staff, a million times thanks!!