Millisecond is like any other RegularTimePeriod in JFreeChart, so you can just
Date d = ms.getStart();
or
Date d = ms.getEnd();
depending on whether you want a date referring to the beginning or the end of your millisecond (same value either way).
See The JFreeChart API for more info.
EDIT: Adding code here since comments kill formatting:
Millisecond ms = new Millisecond();
System.out.println(ms.getStart().getTime());
System.out.println(ms.getEnd().getTime());
will print the same millisecond twice.