I've just this debate, and here are some of my initial reflections:
I think that this the best debate I have seen. Both sides were thought provoking and interesting, and yes, courteous to each other (Although Millican was getting very touchy and agitated by the end).
However I think that this still ran in line with other debates I have seen Craig in. Millican didn't have any good arguments 'for' atheism. He was just skeptical about everything, to the point of saying "We can't trust our rational intuition" and even saying that we have to wait on science, because it will change in 100 years time etc. He was even skeptical the meaning of the word objective (despite obviously knowing what craig meant by objective) just so that he could be skeptical about it. This isn't empiricism, or scientism, it's just blind skeptisicm about everything. Which is no more powerful than the child in the playground who says "I know you are, but what am I?" to everything you say to him. And skeptism alone is not a good grounding for naturalism. He still needs good reasons (which he doesn't have, else he would have stated them)
I don't want to be ungratious, but, as nice as he is, he didn't really have anything positive or substantive to say at all. There were lots of objections that he raised, that Craig didn't respond to, or didn't have time to, but they weren't powerful at all.