Stephen Wayne Millsaps 72 of Richmond died May 17, 2024, in his home. He was born August 11, 1951, in Statesville, North Carolina to Charles and Deborah Meadows Millsaps; he lived in  West Plains, Missouri before moving to Richmond 6 years ago.

He was an Army Veteran.

Stephen was a factory worker and a member of the First Church of the Nazarene.

He is survived by his wife of seven years Jo Ann Millsaps, two daughters, two step-daughters, several grandchildren; two brothers Tim and Gary Millsaps, one sister Teresa Millsaps, sister-in-law Francis Stall, brother-in-law Wesley Webb, several nieces, nephews, and cousins.

He is preceded in death by his parents and one son.

A celebration of life will be held at 3:00 PM on Friday, May 24, 2024, at the First Church of the Nazarene with Pastor Adam Griffin officiating. Friends may call from 1:00 PM to 3:00 PM Friday at the church. Stegall-Berheide-Orr Funeral Home is handling the arrangements. In lieu of flowers, donations may be given to the family to offset the funeral expenses. condolences may be sent to the family by visiting www.stegallberheideorr.com