Robert Millsaps, 39, of Waco passed away Friday March 26. Services will be 11 am Tuesday March 30 at Cogdell United Methodist Church with Rev. Kay Hawkins officiating. Burial will be at Waco Memorial Park. Visitation will be 6 to 8 pm Monday March 29 at Bellmead Funeral Home. Robert was born October 13, 1970 in Waco to Michael and Billie (Johnson) Millsaps. He graduated from Waco High School in 1989 and had been a welder at Central Texas Iron Works for almost 20 years. He was a member of Cogdell United Methodist Church and The Howling Blades where he enjoyed participating in the Renaissance Faire. Robert's life revolved around his girls and The Lord Jesus Christ and will be remembered for his beautiful singing voice. His mother preceded him in death. Survivors include his father Michael Millsaps of Waco; his daughters Brittney, Sarah and Jessica Millsaps all of Waco, his children's mother Amy Sargeant of Waco; his sister Leisha Luckey, his brother Paul Millsaps and nieces Brandie, Kati and Tessa all of Waco, numerous aunts, uncles and cousins. Pallbearers will be his close friends.