Originally, the Minchas Chinuch says that Bnai Ketura are exempt from giving Mila to their Avadim. They cannot be compared to Jews that actually owns the actual body of the Eved. In Gitten 38a it states that Goyim do not have the same ownership on Avadim as Jews. Though they're entitled to all work that the Eved produces, they don't own the actual body of the Eved. Since the body is not theirs, they don't need to make Mila on it.
But it's not that simple.
The Rishonim deal with the question: did our forefathers (before Matan Torah) have a status of Jews or Bnai Noach? (There is a whole write up in the Prishas Drachim on this Shaila.) According to those that say the Avos had the status of Bnai Noach, so then they must not have technically owned the bodies of their Avadim. Yet, Avrahom Avinu was commanded to give his Avadim a Milah. Therefore, Bnai Keturah also would need to give them a Mila since they're their Avadim even though they don't own their bodies.
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