Crossfire Ministries was founded in 1992 by John and Leslie Miller. The Millers directed youth drama and foreign evangelism outreaches on short term mission trips to Mexico for 15 years prior to that. Being convicted by the Lord that they were failing to reach out to those in need in their own community, they felt God's call on their lives to also reach out locally. They sold their Christian bookstore, became debt free, and founded Crossfire Mission, a fulltime mission to help the needy of Colorado Springs.

Although Crossfire still supports several mission outreaches in Mexico, the Crossfire local mission has now become the major emphasis.

The Millers walk in faith that God will take care of their needs. Crossfire began as, and remains, an all volunteer organization, operating mostly on the generosity of individuals and a few churches.