From the Waldorf Kindergarten Snack Book. We're going through their "Grain a Day" this week for homeschool, and this was the recipe I decided to try for Millet (since I've never really used millet).
Incidentally, regardless of your school choices, this book is AWESOME! For little kids, it's a whole book of recipes that are whole grain, low (or no) sugar (mostly sweetened with honey & syrup), and just generally nice, healthy snacks for kids :)
Ok, so the recipe:
3 c millet
6 c water
1/4 or 1/3 c maple syrup
Over med heat, toast millet in bottom of a large pot until you start to smell the millet (optional). Add water & syrup and bring to a boil. Reduce heat, cover, and cook at a slow boil for about 20 minutes. Do NOT stir the pot. When all the water is absorbed, pour into a glass 9x13 inch baking dish and allow to cool and harden. Cut into small squares.