Founded in 1987, the Spirit of the Flame Award was officially renamed in 2011 after fellow gymnast and Staff Sargent Robert Miller. In 2010, Robert Miller was posthumously awarded the  Medal of Honor for his heroic efforts that saved the lives of fellow soldiers during the War in Afghanistan.

• 1987 – Dale Kephart
• 1988 – Gomez Family
• 1989 – Charlie & Eleanor DuBois
• 1990 – Maria Bakos
• 1991 – Glen Sundby
• 1992 – George Nissen
• 1993 – Jack Rockwell
• 1994 – Roe Kruetzer
• 1995 – Stormy Eaton
• 1996 – Abie Grossfeld
• 1997 – Bill Roethzheim
• 1998 – Muriel Grossfeld
• 1999 – Brian Babcock
• 2000 – Tracey Callahan Molnar
• 2001 – Harry Bjerke
• 2002 – Kathy Kelly
• 2011 – Robert Miller
• 2012 – Andrew Donnellan
• 2014 – Andrew Avelino
• 2015 – Daren Renna
• 2016 – Kate Foster
• 2022 – Kalon Ludvigson