A native of San Francisco, Bob Mills served in the Navy after high school, graduating from San Francisco State University in 1962 and the University of California Hastings Law in 1965. He practiced in Palo Alto, CA for ten years before moving to Hollywood to write for television after being "discovered" by San Francisco radio legend Don Sherwood. He worked on the "Dinah Shore Show," the "Steve Allen Show" and the "Dean Martin Celebrity Roasts" as a staff writer. He joined Bob Hope in 1977 and traveled the world with Hope for the next seventeen years creating sketches, monologues, comedy routines, speeches, articles and parody song lyrics. In the 1990s, he co-wrote a daily topical humor column for the Los Angeles Times called "Laugh Lines."
In 1999, he became an enrichment lecturer for Crystal Cruises and for the next twelve years sailed aboard Crystal, Celebrity, and Princess cruise ships performing multimedia shows based on his experiences with Hope that he produced called "On the Road with Bob Hope," that includes clips from eighty-five Hope specials he co-wrote. He now hosts the shows along with book talks and signings at libraries, senior centers, service organizations and corporate conventions. In 2009, his book The Laugh Makers: A Behind-the-Scenes Tribute to Bob Hope’s Incredible Gag Writers was published. He's an Emeritus member of The Writers Guild of America, West and ASCAP.
He lives with his wife, Shelley, in Studio City, California with three extremely demanding rescue dogs. He was a volunteer docent at the Los Angeles Zoo (2002-2007) and a volunteer reader at Recording For the Blind & Dyslectic in Hollywood (1970-2004).