They were the female quartet in P's video with Angie Stone called "U Make My Sunshine". Were they a group P formed and then changed his mind about(like The Uptown Dames) or were they already a group that he just hired for that song and video?

I'm pretty sure they were a group that Prince hired. He didn't put them together (ala Vanity 6, Apollonia 6 etc). They are also heavily featured on The Rainbow Children album and performed with Prince on a few occasions in 2001 (including the Jay Leno performance of "The Work pt.1")

toejam said:

Milenia opened for Prince (along with the fonky bald heads) at a show in Oakland Ca. around 2001 or so (can't remember the exact year).

To me it seemed like Prince was trying to revive the old Vanity 6 / Time vibe from the 1982-83 triple threat tour, but it failed miserably.

Milenia had a website a few years back. They released an album entitled "Our Story." I wasn't able to hear any of it, but they were given comparisons to Destiny's Child and were popular in their hometown.

Sowhat said:

Yeah, I remember that. Most everyone sat through Milenia and Fonky Baldheads (except when Prince made a quick appearance). Milenia rehearsed with Rosie Gaines during the soundcheck, and they performed with Prince at the Fillmore aftershow. 2001 it was.