Madison - $400 + utils for an efficiency/1 bedroom at the low end for campus area, could get down to 350 if you go off campus. It can also be as high as 1-1.2k if you really want a nice place to live.
Milwaukee - Super variable. Downtown can range from 300-1.5k depending on quality/location/amenities. Suburbs (Wauwatosa, where MCW is) usually is around 400-750 for a 1 bedroom.