Despite his talent, he hoped to follow in his father's footsteps and become a tugboat captain.
"When I was a teenager, my father would take me on the Laun and I'd work with the crew. There were nine of us and a cook. I had to shine the brass and keep the bunks made. If I did that, he'd let me steer for a while," he told Mr. Burger.
"Sometimes we'd stay out for two weeks at a time, working the Patuxent down to Norfolk and then up the James River," he said.
His mother objected to him pursuing that career, so he became a carpenter.
"I knew his dad real well," said Herbert Groh, 92, one of the port's tugboat captains, who retired from Curtis Bay Towing Co.
"Millard wanted to be a tug captain in the worst way, but his mother said no. She'd say, 'I'm scared when he goes out with his father for only a day,'" Mr. Groh said. "I thought he was a lot like his dad and a great guy to be around."
Mr. Hart worked for League Lumber Co. and eventually Walbrook Lumber Co., where he was a layout man and foreman for seven years.
When a recession came along in 1975, he left Walbrook and opened the Walz & Hart Manufacturing Co. at 1623 Aliceanna St. in Fells Point with partner Hans Walz.
Eventually, they dissolved their partnership, and Mr. Hart operated the business on his own.
Mr. Hart's shop became home to a number of waterfront characters who were drawn there, no doubt, by a refrigerator that was always stocked with beer. He also had a jukebox and pinball machine for entertainment.
His Christmas parties were legend, as was his general offbeat nature, right down to the shop having no number on the door, said Mr. Burger.
"I would tell customers to come up Broadway, turn on Aliceanna, and when you get to the door with no number, you're there," he told Mr. Burger.
Mr. Hart's business thrived as he fashioned cornices and other replacement woodwork for those restoring Fells Point houses and storefronts. Numerous area bars have back-bars that show his careful and detailed craftsmanship.
He also did renovation work for Baltimore tugboat companies.
"He'd come down to Curtis Bay Towing when we needed replacement doors and windows for tugs, and Millard would make them," said Mr. Groh, who lives in Catonsville.
"These were windows that were not going to be hung on a summer home but rather a tug, so they had to be made a certain way," he said. "He was very knowledgeable and did great work."
"One day I was hanging some doors on a Curtis Bay tugboat tied up at the foot of Broadway," Mr. Hart said in the interview with Mr. Burger. "They got called out to do a job, and instead of packing up I stayed on board and kept working.
"As we sailed past Fort McHenry, I said, 'Well, Mom, I guess I ended up on a boat after all.'"
Joe Trabert, former owner of Turkey's Joe's Bar in Fells Point, was an old friend.
"Millard was a real gentleman with a soft-spoken Southern accent. He was also funny as hell," said Mr. Trabert, who lives in Hamilton. "He was a master carpenter and far too good to work in my old bar."
"His place was just around the corner, and I'd go and talk to him. He was a very nice man," said Nick Filipidis, owner of Jimmy's Restaurant. "I was always impressed with his work. It was amazing what he could do in such a limited space."
He left Fells Point in 1986 and began working out of his home on White Avenue in Hamilton.
Neighbors and friends kept Mr. Hart busy with various projects.
"He was so generous, he'd give stuff away all the time," said his daughter, Suzanne E. Hart of Towson. "I still have and wear the wooden go-go platform shoes he made for me back in the '70s."
In addition to being a tugboat fan, Mr. Hart liked reading about and visiting lighthouses. He was also a longtime Orioles fan.
He was a Mason and a member for more than 60 years of Adherence Lodge, which recently merged with Liberty Lodge. He was also a member of the Scottish Rite, Boumi Temple and the Tall Cedars of Lebanon.
Mr. Hart's wife of 53 years, the former Marianne Rabette, died in 2011.
A few days before his death, he offered words of encouragement to a visitor, who said that friends and family would be touched by his passing.
"Don't worry about me, I'm within sight of land," he told Mr. Burger.
Mr. Hart was a longtime member of University Baptist Church, 3501 N. Charles St., where services will be held at 11 a.m. Monday in Davis Chapel.
In addition to his daughter, Mr. Hart is survived by his son, Millard R. Hart Jr. of Glen Burnie; and two grandchildren.