Milner felt it was the latest indication of how England are developing under Roy Hodgson ahead of the World Cup qualifiers with San Marino and Montenegro.
He said: "Every time you play Brazil, you are playing one of the best sides in the world. To get a win like that at Wembley gives you a lot of confidence.
"It was a good performance as well and we can take a lot of confidence from it, even though it was a friendly.
"We know that if, hopefully, we do qualify, and come up against those teams again, we are well-equipped. We know we can get a win against them."