Jrue Holiday led the Bucks with 24 points. Khris Middleton added 23 after missing three games with a hyperextended left knee.
Jaylen Brown scored 34 points and the Boston Celtics beat depleted Cleveland 111-101 on Wednesday night to end the Cavaliers' winning streak.
The New Orleans Pelicans beat the Portland Trail Blazers 111-97 on Tuesday night for their first three-game winning streak of the season.
Deandre Ayton had 19 points and 11 rebounds, and Booker scored 24 as the Suns won their fourth consecutive game.
Embiid scored 17 of his 41 points in the fourth quarter, hitting three jumpers in the final minutes and three free throws to ice it.
LeBron James had 31 points, Carmelo Anthony added 21 and Russell Westbrook 20 as Los Angeles Lakers dropped its second straight game.