Dating back to Biblical times, millet is a tiny, rounded, pale golden (though some strains are red) grain. Although it remains a staple in African and Asian diets, it is less widely consumed in America.
To prepare dressing, combine the first 8 ingredients in a small bowl.
To prepare salad, heat a medium saucepan over medium-high heat. Add millet to pan; cook 5 minutes or until golden, stirring often. Add 2 cups water; bring to a boil. Cover, reduce heat, and simmer 20 minutes. Remove from heat; let stand, covered, 10 minutes. Fluff with a fork. Cool completely.
Heat a small saucepan over medium-high heat. Add nuts; cook 3 minutes or until lightly toasted, stirring occasionally. Add 1 tablespoon soy sauce; cook 30 seconds, stirring constantly.
Cook carrot in boiling water 3 minutes or until tender. Drain; rinse with cold water. Drain. Combine millet, carrot, cilantro, bell peppers, onions, and jalapeño in a large bowl. Drizzle dressing over the millet mixture; toss well. Top with walnuts.
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