The Brazilian forward could follow Kaka to the MLS expansion team, which will kick off in 2015.
AC Milan CEO Adriano Galliani said last week that talks with the MLS club over the Brazilian had taken place, though he warned that any potential deal was some way off from being finalized.
Compatriot Kaka has already finalized a deal to join the expansion side for the 2015 MLS season after spending six months on loan with Sao Paulo.
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"There has been a formal offer from Orlando City, as confirmed by Adriano Galliani," Marisa Ramos told Globoesporte. "The two parties are negotiating. If the move does go through, moving to Brazil for six months first is certainly an option. He couldn't go six months without playing.
"His contract with Milan expires in 2016 and discussions are at initial stages. He could be loaned to Orlando City or even sold. We'll listen to the proposals and see what is to be done."
The 30-year-old Robinho joined Milan from Manchester City in 2010 for an 18 million-euro fee, but has struggled to secure a starting spot in the past two seasons at San Siro.