City beat Reading 1-0 at Ashton Gate on Tuesday to end a run of six league games without a win and Millen is hoping for a similar result on Friday.
He told City Player: "QPR are a good side and I can see why they are top of the league.
"I`m confident in the ability of our squad and the attitude as well. With the confidence the lads took from the win I`m sure it will be a good game for the fans.
"The fixture is another big one under the lights, with the Sky cameras and Neil Warnock.
"We seem to relish playing in front of a TV audience and hopefully we can build on all the hard work and get a run going."
Source: PA
Source: PA