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Milestones are typically major accomplishments of the project and mark the completion of major deliverables or some other key event in the project. For example, approval and sign-off on project deliverables might be considered milestones. Other examples might be the completion of a prototype, functional testing, contract approval, and so on.

A milestone is typically denoted on a project schedule as an event that is achieved once all the deliverables associated with that milestone are completed and it has a duration of zero.

Gantt charts can show milestones, deliverables, and all the activities of the project including their durations, start and end dates, and the resources assigned to the task. Gantt charts typically display the tasks using a horizontal bar chart format across a timeline. I know project managers who have constructed Gantt charts for small projects using only a spreadsheet.

References: Kim Heldman, CompTIA Project+ Study Guide, 2nd Edition, Sybex, Indianapolis, 2017, p. 297