Milford Township is a township in Pike County, Pennsylvania with a population of 1,530 and median household income of $48,264. Milford is strategically located at the junction of New York, New Jersey and Pennsylvania. It has easy access from two exits on US Interstate 84: exits 53 and 52. Historic State Route 6 passes right through town, and joins Route 209 that follows the Delaware River up from I-80 and Stroudsburg. Across the bridge over the Delaware, New Jersey Route 206 goes south to Sparta and Newton to Route 15 and I-80. Milford is 70 miles from New York City to the east, and 55 miles from Scranton to the west.