Milling tools and methods are disclosed. The method may include moving a milling tool having at least two axially spaced apart sets of cutting inserts to an axial position within a bore in a material and rotating the milling tool about a longitudinal axis. Contact between the milling tool and a wall of the bore may be initiated in a region of the wall having a least amount of material at the axial position. The milling tool may include a tool shaft having a longitudinal axis, a first set of radially spaced cutting inserts coupled to the tool shaft, and a directly adjacent second set of radially spaced cutting inserts coupled to the tool shaft and spaced from the first set of cutting inserts along the longitudinal axis. The first and second sets of cutting inserts may be staggered from each other by at least 10 degrees.