You can skip the skills test part of the Delaware commercial driver licence exam on the strength of your military driving experience. You still have to take the knowledge test.
Have your commanding officer complete the certification section of the Delaware application for a military skills test waiver, then submit the finished form at a Delaware Division of Motor Vehicles office.
The completed waiver application certified by your commanding officer, proof you have been licensed for at least two years on a comparable military vehicle, and your DD214 if you have been discharged.