The former Brazil international has a further two years remaining on his existing deal at San Siro, but Galliani says that the 30-year-old is keen on joining former teammate Kaka stateside.
"Robinho wants to go to the Major League Soccer," he told Milan's official website.
"There is a negotiation in place with Orlando, the same club that Kaka joined. They are keen to take Robinho and the player is willing to leave.
"We are not close to completing the deal so we shall see. In any case we have an excellent rapport with Robinho."
Robinho has spent the last four years with the Italian giants following a move from Real Madrid.