This milkweed, Asclepias erosa, is a perennial herb with erect yellow-green stems and foliage in shades of pale whitish-green to dark green with white veining. It may be hairless to very fuzzy. The sturdy, pointed leaves grow opposite on the stoutstem. Atop the stem is a rounded umbel of yellowish or cream-colored flowers. Each flower has thick, reflexed corollas beneath a flower centercomposed of rounded, horned filaments.