My family and I are from Milwaukee and I lived there until 2002 when I turned 29 yrs old. I mainly lived in the Wauwatosa area which is the first burb directly west of downtown. I LOVED it. Great area which has a lot of neighborhood pride in it's different sections. We were near Wauwatosa East High School. The schools in Tosa are excellent, lots of parks, beautiful old neighborhoods for walks, VERY safe and convenient to everything.
I live just over the border in IL and work in downtown Chicago now. If I could swing it, I would move back tomorrow. It's the best place I've ever lived and all my family is still there so I'm back quite a bit. Milwaukee is a perfect size city imho.
If you have any more questions you can hit me up directly. I can probably offer you a lot more specifics if you'd like.
Good luck, I really think you'll be happy there.