Obtain a bolt that has the same threads as the bolt that holds the crank on, only a couple inches longer and remove the hex head of the bolt. Attach drill chuck...very simple.
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Other option is to grind a flat spot in the bolt right where you cut the head off to give your chuck a place to grab. - I used a Dremel for mine and did it in a few minutes. Only issue is that I sometimes have a REALLY hard time getting the bolt back out of the mill if I want to put the handle back on.
To aid in getting the bolt out of the mill use a nut on the bolt. Put the nut on the bolt then screw the bolt into the mill. When the bolt is in the mill screw the nut down to the mill. The nut will prevent the bolt from getting farther into the mill thus preventing it from getting stuck.