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Use a resistor to convert mA into volts, then use a non-inverting opamp with appropriate gain & level shifting to get your 0-5v.
E.g. using a 330ohm resistor in series, you will get 330 x 0.004 = 1.32v, and 330 x 0.020 = 6.6v. This is a range of 5.28volts. So you need a gain of 5/ 5.28 = 0.947
Also you need to simultaneously level-shift the 1.32v down to 0, so you need to apply a 1.32 x 5/ 5.28 = 1.394v on the inverting input (if it has the same gain). Otherwise just apply an offset voltage thru' a pot to get your desired output.
Here's a **broken link removed**with circuits and explanations
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