I like the Stonebridge restaurant in Milford. About Stonebridge Restaurant
I've been there a few times. Good food, nice staff. A short walk from the town marina (Milford Landing) at the end of the river. The main street is nice to walk, there is a nice village green on it. If you want a simple burger very close by, Indigo By the Water is good. Basic place.
If you do go to Milford Landing, be careful at low tide, there is NO water outside of the pilings with red cans on them. Plenty of water inside, so just be aware.
One more thing, don't bother going to Mt. Sinai. Nothing to see there. Nothing. Keep moving on