The 28-year old has had two previous spells with the Sao Paulo outfit in his career, and the 2011 Copa Libertadores winners are keen to bring the former Manchester City man back to his homeland.
The club's vice-president Odilio Santo Rodrigues told Lancenet he has spoken with Robinho about a possible move at the end of the season, though he is wary of the Italian side asking for a large transfer fee.
"It’s true, we are interested in Robinho. We have already spoken with the player," he admitted.
"There is a wish to do something during the transfer window at the end of the year, but nobody knows how much Milan will ask for him.
"Robinho called us a few days ago and we are often in contact, but he is a professional and has a contract in Italy. Let's see what happens at the end of the year."
The Brazilian joined the Rossoneri over the summer of 2010 but has struggled for consistent goalscoring form in his two seasons for the seven-time European Cup winners.
His current deal runs until the end of the 2013/14 season, but with Massimiliano Allegri's side struggling after two early defeats in Serie A, he could be forced to look elsewhere if he is to win more silverware.