Yes Milkshape3D does have a low learning curve compared to blender or truespace. The book does have a chapter dedicated to exporting models/animation and running them in DBPro. I haven't had success with this on my own but I must admit I didn't try for very long to get it working.
I personally don't need a Milkshape3D book, I've been able to get it to do what I want over the last 4+ years (although some tools like Edit Mesh and TCE bugs me with its quirks). But what I do need is an
affordable Hands On Darkbasic Professional Book Volume 2, hence the plug.

A 3D marble platformer using Newton physics.