The Brazil international has failed to establish himself as a first-team regular at the Bernabéu since sealing a record £60m move to the Spanish capital in 2009.
“To come back to Milan, I am ready to do anything,” he told Sky Italia.
“It’s not a good situation for me at Real Madrid. I have already asked Milan to find a solution because during my time with Milan, I enjoyed some of the best moments of my life.”
Milan are understood to be locked in talks with Real Madrid over a potential loan deal for the 30-year-old midfielder, who scored 95 goals in 270 appearances during his six-season spell at the San Siro.
Kaká has only managed to net 26 goals for Los Blancos since 2009 after being limited to just 106 appearances for the La Liga club.