Singer-actress Christina Milian is set as a lead opposite John Stamos and Josh Peck in Fox’s single-camera comedy pilot Grandpa, from ABC Studios and 20th TV.

Written by Danny Chun and produced by Dan Fogelman, Grandpa centers on Jimmy (Stamos), a charismatic longtime bachelor whose life is upended when he discovers he’s a father — and a grandfather. Peck plays Gerald, the son Jimmy didn’t know he had – a sweet unemployed techie who is himself the proud and surprisingly capable father of a two-year-old daughter, the product of a one-night stand with the sexy Vanessa (Milian), described as a hip, hot mess. Just when she seems to be warming up to Gerald at least, she meets Jimmy — and is instantly attracted to this older, cooler man, a complication that doesn’t bode well for Gerald.