Milwaukee is known best for its cheese, sausage and beer. The largest city in the state is also home to Miller Brewing (and, once upon a time, Pabst). Located off Interstate 94, it's a short drive from both Chicago and Madison in your Wisconsin rental car. You'll find that during the annual Summer Fest music festival, dubbed by the Guinness Book of World Records as the largest music festival in the world, people from all over the Midwest flock to Milwaukee!