Milsbeek is a village in the Dutch province of Limburg. It is a part of the municipality of Gennep, and lies about 14 km southeast of Nijmegen.
The village was first mentioned in 1329 as Milsbeec, and is named after a brook.
Milsbeek was home to 520 people in 1840. The former pottery was turned into a pottery museum in 2016, and has to last remaining wood oven of the Netherlands.