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Winokur and Miller helped deliver the baby on Tuesday. The child was carried to term by a surrogate mother.
"He is so perfect," Winokur, 35, told PEOPLE on Thursday. "My little miracle baby is here, and I can't believe it."
Zev (his name means wolf in Hebrew) weighed 8 lbs., 7 oz. and measured 21 inches long.
"I'd say he's got a Winokur face and a Miller body," says Winokur, the third runner-up on Dancing last season and a Tony Award-winner for her leading role in Broadway's Hairspray.
Winokur, who survived cervical cancer seven years ago, announced the pregnancy last March exclusively to PEOPLE.
"I told Judah the minute Zev was conceived our lives changed," says Winokur.
After Dancing, Winokur landed a deal to host her own talk show, while Miller received his first primetime Emmy nomination last week for outstanding animated program for his work on King of the Hill.
"One minute I'm totally fine, and the next minute I'm overwhelmed with emotion," a teary-eyed Winokur said. "I can't believe I am sitting here next to my baby. This is the one thing that's been missing from our lives. Now our house is really going to be a home."
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