Rinse it off and remove any stones or unhulled pieces. Cook millet as you would rice but with more water (3 cups water to 1 cup millet). You determine how much water to use depending on how soft you like your grain. You will know your millet is finished because the dark yellow colour will become opaque.
Recipe by Julie The Dietitian at https://juliethedietitian.com/how-to-cook-millet/