It'd be even easier if it had Cinema 4D's GUI...
Sorry, I'm another person who is driven crazy by Blender's GUI and isn't prepared to learn all of the keyboard short cuts, as I like to learn them casually (and to do that, I like to have a stable GUI system to use in the backgroud, EG I've been using the click menu for the bevel tool in C4D for a while, but it wasn't that long ago since I decided to start using the shortcut)
I like the interface of an app to be intuitive, so when I open a new program I can become acquianted with its features and then apply what I've learned in other 3D apps and get started (like I have with Carrara pro)
As for apps (to the thread starter): You'll find you have more or less sufficient tools (just learn them properly, rather than take short cuts, I mean a lot of people seem to think a subdivide model with a couple of extrudes looks good and will run fine in the game, when it is neither, also in-app procedural textures won't work, you have to use an image, luckily you're using Milkshape, so you can only use image textures.
)
Milkshape is a good program, I'm not too fond on its modelling part, the animation and exportation are fantastic for its price, not to mention easy. But perhaps if you download Wings3D (free) you might find a modelling part to a program a bit more easier to work with.
You might need a UVMapping program too (to prepare models for your textures) and lithunwrap (free) does the job swimmingly.
Other than that, I think you have the right toolset, now you need the right mindset and knowledge (if you don't have it) to make your games.
Exit Pursued by man-bear-pig