Milo Ventimiglia Talks 'Hopeful, Inclusive' Hit 'This Is Us,' Strips Down for Breast Cancer Awareness

Looking good, Milo Ventimiglia!

Milo Ventimiglia couldn't be prouder of his NBC hit, This Is Us.

The 39-year-old actor stopped by The Ellen DeGeneres Show -- airing Monday -- when he was actually interviewed by Miley Cyrus, who filled in for DeGeneres while the comedian was under the weather. Ventimiglia talked about his new family drama, which drew more than 10 million viewers to its debut earlier this month. The series has already scored a full-season pickup, NBC announced last Tuesday, bringing its total episode count to 18.

"It's got heart," Ventimiglia said about the show's appeal. "You know what I love about it? It's hopeful. There's a whole landscape of you know, aliens invading planets, and scandal, and this is inherently good."

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"And it's inclusive -- of, like, race and gender, and age and everything," he added passionately, as Cyrus high-fived him. "It's a great show."

The Gilmore Girls star also couldn't help but gush about his co-star, Mandy Moore, who plays his wife.

"She's incredible, man," he marveled.

Ventimiglia later gamely raised money for Breast Cancer Awareness Month, stripping down and getting in the Splash Tank. Check out the handsome actor going shirtless for a good cause.

WATCH: 'This Is Us' Premiere Reveals Heartbreaking Twist

ET spoke to This Is Us creator Dan Fogelman last week, who previewed what's next for this season's big breakout hit.

"The next three episodes are really, really strong and there’s an emotional response to the characters and the material," Fogelman told ET exclusively. "Hopefully, in its own unique way, that can draw people in a different way to TV, like the way I was drawn to it as a little kid.”

Watch the video below to see why you'll fall in love with This Is Us actress Chrissy Metz, who endearingly plays Kate, a woman struggling with her weight, eating habits and body image.