In addition to the dedicated volume on Milarepa, Chögyam Trungpa Rinpoche wrote about him extensively in other places. In volume V of his Collected Works, he has three pieces:
"Milarepa: A Warrior’s Life”: This includes the last instructions given by Milarepa to his students as he lay on his deathbed.
"Milarepa: A Synopsis”:
From the Translator's Introduction: "[This section] presents a series of scenes from Milarepa’s life, with little commentary on their significance. The writing is quite vivid, however. Excerpts from a number of Milarepa’s songs are included, based on the translation of The Hundred Thousand Songs of Milarepa by Garma C. C. Chang. Although it was impossible to definitively confirm this, it is likely that this article is actually an early treatment prepared by Chogyam Trungpa for a movie on the life of Milarepa, which he began filming in the early 1970s. He and several of his students, including two filmmakers from Los Angeles—Johanna Demetrakas and Baird Bryant—traveled to Sweden to film some exquisite thangkas of the life of Milarepa, which were to be featured in the movie. More information about the film itself—which was also to be an exploration of the qualities of the five buddha families—appears in the introduction to Volume Seven, which presents Rinpoche’s teachings on art and the artistic process.
“The Art of Milarepa”:
From the Translator's Introduction:
"The title is somewhat misleading in that the article has little to do with Milarepa’s artistic expression—his songs—in and of themselves and more to do with his art of life. The opening part of the article is a discussion of how the secret practice of Buddhist yoga evolved in India, especially in the ninth century in the great universities of Nalanda and Vikramashila. The connection that Marpa (Milarepa’s main teacher) had to this tradition is also discussed. In this article, one sees Trungpa Rinpoche’s brilliant insight into Milarepa’s journey through life, the obstacles he encountered, and his final attainment. Throughout, Rinpoche brings together immense appreciation for Milarepa as a highly developed person on the one hand, with a down-to-earth insight into the humanness and ordinary quality of his practice on the other.
After he met his guru, Milarepa lived an austere, ascetic life and spent many years in solitary retreat in caves in the wilderness of Tibet. His lifestyle might seem distant from that of most people, especially in this modern age. Yet Trungpa Rinpoche makes Milarepa’s experience accessible by demystifying it, while maintaining his tremendous appreciation for the attainment of his forefather. He tells us that Milarepa remained an ascetic simply because ‘‘that physical situation had become part of his makeup. Since he was true to himself, he had no relative concept of other living styles and did not compare himself to others. Although he taught people with many different lifestyles, he had no desire to convert them.’’ Milarepa’s asceticism is treated here as an ordinary but very sacred experience, one that really does not have much to do with embracing austerity per se. As Rinpoche concludes, ‘‘Simplicity is applicable to the situation of transcending neurotic mind by using domestic language. It becomes profound without pretense, and this naturally provokes the actual practice of meditation."
Gampopa, the direct heir to much of Milarepa's teachings, wrote the famous Jewel Ornament of Liberation. Ringu Tulku presents Gampopa's most famous teachings in Confusion Arises as Wisdom: Gampopa’s Heart Advice on the Path of Mahamudra, and Milarepa unsurprisingly appears throughout—over 80 times.
The story of Milarepa pacifying a hunter and his ferocious dog, demonstrating a reverence for life, is included in Dharma Rain: Sources of Buddhist Environmentalism.
Another good source is Lotsawa House's section on works related to Milarepa.
To close, here is a video of Chogyam Trungpa Rinpoche talking about Milarepa