As reported to the FAA. Reports are unverified, and codes are left as the FAA publishes them.
What was found
CREW REPORTED SMOKE IN CABIN SHORTLY AFTER TAKEOFF. CREW RETURNED DECLARED EMERGENCY AND RETURNED TO FIELD AT MKE, AND LANDED WITHOUT INCIDENT. MAINTENANCE INSPECTED THE AIRCRAFT PER EMB FIM 21-20-00-801A, NO DEFECTS WERE FOUND AND THE AIRCRAFT WAS RETURNED TO SERVICE.