Whip cream cheese and milk until very soft and smooth. Using a pastry tube or bag, fill with cream cheese. Using an open star tip, fill dates with cream cheese, being careful not to overfill as they will burst. Immediately roll in granulated sugar.
In the remaining dates, place a walnut or pecan half or slivered almond. Roll individually in sugar.
Place dates in an airtight container and refrigerate until ready to serve. Makes 1 pound. Enjoy!
Note: If giving as a gift, be sure to include a tag that says "please refrigerate!" so they know.