Now, a Newton is the amount of force it takes to hold up an apple (or accelerate it at 1G). So a millinewton would be the amount of force it takes to hold up a blueberry.
Your typical 100 HP car engine puts out 75.6kW, so you'd need 130 car engines' worth of power to lift a small 1 kg/~2 pound object. Not to mention that the machinery needed to channel/produce that kind of energy would be so heavy that it could not lift itself.
But it's still possibly useful for space travel. Not needing propellant is huge for long-distance space travel.
That said: they don't know why it works. (If it even works, which I strongly strongly strongly doubt.) If they figure out what produces the phenomenon, it's very possible they could get the drive to be way more efficient.
Bonus question: The power of the RTG halfes avery 87.7 years. What is the asymptotic speed the spacecraft will reach?
The EMD is simply not applicable to scales where RTGs are used, much as a 5MW maritime diesel turbine is not applicable to swimming motions of a biological cell. The power density of Voyager is a hundred times lower than what an EMD ship would need.
Of course this is considering only the decay of the plutonium and none of the active decay products. I've also disregarded the decrease in mass over time.
[Edited erroneous data for FEEPs and needless rant]