not sure if Milton Davis played on this cut as there are three bass players credited to this album. I do know he cowrote this song which launched him from a bass player to composer/producer who worked with John Mellencamp, The Neville Brothers, Sonny Rollins, TD Jakes, and many many more, serving as producer, composer, and bass player.
I watched him go head to head with Oteil Burbridge one night with The Cast when Oteil filled in for their guitarist, with his bass. It was an epic display of incredible bass playing as they swapped leads, bounced licks back and forth, and generally made me seriously consider piling up all my gear and burning it.