Wild milkweed seeds are very difficult, not only to germinate but also to get them to grow in the garden.
But Tropical milkweed, Asclepias curassavica is easy and that is the one I use the most,
http://garden.org/ideas/view/f...
Also Milkweed Vine, Funastrum cynanchoides does well for me, and that is plentiful once you get going,
I used the vine to raise the 36 monarchs.
http://garden.org/ideas/view/f...