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Attended Newnham College, Cambridge as an undergraduate, but channeled much of her time into poster and costume design for theatrical productions taking place around the University and Colleges. Won a Fulbright scholarship to Smith College, Northampton Massachusetts. While there she took classes taught by artist Leonard Baskin, developing her love of printmaking and letterpress. She went on to become Leonard Baskin's studio assistant and acting assistant director of Smith College Museum. Milne-Henderson returned to Cambridge in 1962 to teach in the Fine Art Department (later History of Art Department), continuing her academic research, including publications on the work of George Romney. Married to Michael Jaffe (1923 - 1997), who was, in addition to his academic career, Director of the Fitzwilliam Museum, 1973-1990.