This should be no problem with the proper hitch.  Have a hitch professionally installed and you should be good to go.

Thanks for your response.  I'm glad to hear you say there should be no problem. The Milan has the 2.3L I-4.  Do you think it has enough power?  I towed the same trailer with a 3.0L I-4 in a villager and had no problems.  

Why does the owner's manual say that the Milan and it's counterpart, the Fusion should not be used for towing?  Is the transmission too lightweight or something else?