The award-winning stand-up will blend her own unique comedy material and special guests in the So Television production.
Filmed in front of a live audience at the new media hub in MediaCityUK Salford in early 2012, the provisionally-titled Sarah Millican Television Show has been handed a six-episode run.
"I am thrilled to be making a series for BBC Two, so thrilled that I do little claps every time I think about it," said Millican.
Alan Tyler, BBC executive editor for entertainment commissioning, added: "Sarah Millican and So Television feels like a bit of a dream team. Sarah is one of the UK's funniest comedians and we are delighted to bring her first TV series to audiences on BBC Two.
"She is a truly unique combination of wit, warmth and killer punch lines. Sarah is in great hands with So Television who are one the foremost entertainment producers in the UK. This is a great first commission for their new Scottish arm."
Millican won the 'Best Newcomer' title at the 2008 Edinburgh Festival Fringe and was nominated for a British Comedy Award earlier this year. She also hosts her own Radio 4 series Sarah Millican's Support Group.
Watch Sarah Millican on BBC One's Comedy Roadshow below: