In this work, we present an experimental study on cutting force and chip shrinkage coefficient during the milling of SKD11 steel at elevated temperatures using a high-frequency induction heating method. To improve the determination of the chip shrinkage coefficient, a 3D scanning method incorporating GOM Inspect 3D data analysis software was used to measure the chip length. To evaluate the effect of the heating process on output data such as chip geometry, cutting force, and chip shrinkage coefficient, cutting experiments were conducted at room and elevated temperatures with the same machining parameters of cutting speed, feed rate, and cutting depth. The Taguchi orthogonal array method was subsequently used for experimental design to obtain optimum values of the machining parameters. The analysis of variance method was also performed to indicate the percentage effect of the machining parameters on the cutting force and chip shrinkage coefficient. Finally, models of the cutting force and chip shrinkage coefficient during thermal-assisted milling of SKD11 were established and compared with experimental data.