The 36-year-old said in a statement: "I am thrilled everyone liked the show enough to invite us back! It was a joy to make the first series with such a great team of people and I can't wait to get cracking on the second."
Sarah Millican's Television Programme, which launched on March 8, aired on Thursday nights with an average audience of 1.5 million.
Executive producer Graham Stuart, the director of So Television, added: "The BBC asked me what I wanted for Christmas and it appears there is a Santa Claus!"
Meanwhile, the BBC's executive editor for entertainment commissioning, Alan Tyler, commented: "Sarah is one of the best comic performers in the UK.
"Following the success of the first series we are delighted to be bringing her back to the BBC Two audience."
Since winning 'Best Newcomer' at the 2008 Edinburgh Fringe, Millican has gone on to appear on Live at the Apollo and host her own Radio 4 series Sarah Millican's Support Group.