try
df = pd.DataFrame(sample, columns=['time'])
df['time'] = pd.to_datetime(df['time'])
df['milliseconds'] = df['time'].apply(lambda x: (x.hour * 3600 + x.minute * 60 + x.second)*1000)
df
output
time milliseconds
0 2021-01-19 15:55:00-05:00 57300000
1 2021-01-19 15:56:00-05:00 57360000
2 2021-01-19 15:56:00-05:00 57360000
与恶龙缠斗过久,自身亦成为恶龙;凝视深渊过久,深渊将回以凝视…