He said: "I have played against a lot of lower-league sides in the past and they always make it tough, and credit to Rotherham for doing that.
"But we now believe we can go all the way to Wembley, you get a sniff of it when you see a quarter-final on the horizon and we are close now.
"If we get a good draw when it is made on Saturday, hopefully a home match, who knows how far we can go. We are very confident against anyone here at the Britannia."
Cresswell said: "I enjoyed the game, but really wanted a goal. Somehow Andy got his fingertips to one of mine and pushed it onto a post.
"I played alongside him at York, so I know he's a good keeper, and I told him afterwards that I could not believe he got to my shot.
"I have played in a few big play-off games in Cardiff at the Millennium Stadium but never Wembley. It would be nice to get there."