The Argentine, 34, has spent seven months on the sidelines with a cruciate ligament problem that was picked up last season.
Zdravko Kuzmanovic was also on target for the Nerazzurri but the focus was firmly on Milito's return to action, and the Champions League-winner was thrilled to be playing once again.
"It was great to hit the back of the net again," he told reporters after the match. "That's what every striker lives for.
"But apart from the goal it was important to keep getting minutes under my belt. I'm feeling better and better.
"It was good for me to play a friendly against a tough team. I just need to work on getting sharper and that takes a while after seven months on the sidelines."
Inter have started the new Serie A season with two wins from two and Milito is desperate to force his way into head coach Walter Mazzarri's plans.
"I hope to be back to my best as soon as possible," he added. "I want to be fit so that I can help the coach out when he needs me.
"The worst is behind me now and I'm almost ready to return."
The Nerazzurri's next game following the end of the international break will be at home to Scudetto winners Juventus on September 14.