Schurrle's effort sealed the win and setup a final clash with Real Madrid in New Jersey.
"It's a really nice feeling and it was important for me," he told the official Chelsea website.
"I'm really happy to have scored my first goal, it's pre-season but it always feels good to score. It was my first for Chelsea so it was a really nice day for me.
"The team played very well, we were concentrated from the first minute and it was a good match. It wasn't easy because AC Milan are a quality side.
"It was a bad pitch, but we were really pleased to get the win, and now we'll play in the final on Wednesday."