The 44-year-old actress discussed her reconciliation with her 46-year-old former Charmed co-star in an interview Thursday with E! News following Doherty's battle with cancer.
"Shannen and I talk a lot on Twitter via [direct message]," Milano shared. "And I spoke to her maybe two or three days ago, and we decided that we're going to get together. That date has not been set yet, but yes!"
"I think we're just at ages now where what happened 15 years ago ... is now irrelevant," she explained. "I think that what she has gone through, [and] motherhood in my life, I think it just changes people.
"I'm so happy that she's feeling well. I prayed for her every day that she would feel well and I can't wait to see her," the star added.
Milano, Doherty and Holly Marie Combs co-starred as sisters Phoebe, Prue and Piper Halliwell on the first three seasons of Charmed before Doherty exited the show. Milano confessed on Watch What Happens Live in 2013 that tensions sometimes ran high on set.
"I can tell you that we were on the air with her for three years and there were definitely some rough days," the actress said of Doherty. "Holly and Shannen were best friends for, like, 10 years before the show started, so it was very much, sort of like high school. I would hope that in our thirties it wouldn't feel like that anymore.
"It was the best job I've ever had in my life and certainly a learning experience for sure," she qualified.
Doherty announced in April that she's in remission after being diagnosed with breast cancer in 2015. She said at the time her "heart is certainly lighter," but told fans the next five years are crucial in her recovery.