Pull back remaining husks on the corn and remove silk. Pull husks up and cut about 1/2 inch off top of corn. Put in dish just large enough to hold corn. Pour half of milk over corn. Put remaining milk in sauce pot and add sugar. Stir over low heat until sugar dissolves. Pour milk/sugar mixture over corn. Gently stir to combine milks. Set aside for 2 hours at room temp. Place soaked corn on low grill. Cook 20 minutes until heated through and lightly charred.