Try the congee method. Put several cups of liquid in a pot, boil, add millet and simmer, stirring and adding liquid as needed until the mixture is soft and soupy. I like to make rice, quinoa, millet, rye, barley and others like this with rice/almond/soy milk with cinnamon and other warming spices then add nuts, seeds, dried fruits. MMM!
Ingredients: 1/2 cup millet (120 mL) 3 cups water (700 mL) pinch salt [Additions to taste: banana, dried fruit, raisins, nuts, apples, strawberries, cinammon, nutmeg, allspice, cloves, maple syrup,agave syrup, golden syrup, soymilk, cream]
Measure out the millet and put it in a sieve. Rinse well. Bring the water to a boil in a small pot with a lid. Once the water comes to a boil, throw in the millet and a dash of salt, and turn the heat down low. At this point you can throw in some raisins or other dried fruits, sliced bananas, apples, strawberries, ground spices (think cinnamon, nutmeg, allspice, cloves).
Cook the millet mixture, covered, on low for about 30-40 minutes. Voila. You're done.
Spoon it into a bowl and add what you like: milk, a dash of cream (heavenly), a pat of margerine,agave syrup, toasted nuts, maple syrup, molasses, or jam. (You can also make your millet porridge the night before and heat it in the microwave in the morning if your breakfasts are typically rushed.)