You should have a bunch of examples as part of your Blitz3D install package. The mak directory (Mark Sibly's examples) provides a lot of clean single feature demos, including the anim demo (which shows a .X and a .3DS file based animation) and dragon which shows an .MD2 file animation.
Assuming you have created an animation in MilkShape3D you can use the .B3D exporter (click on "Specs and Utils" to get to it) to export your animation in Blitz3D's preferred 3D file format.
The Castle demo shows (among other things) how to load and utilise a B3D file.
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