Place millet in a medium pot and cover with water approximately 1" above the grain. Cook over medium heat for 10 minutes. Drain and cool. Cooked millet should be fluffy and not clumpy.
Combine all salad ingredients in a large bowl.
In a jam jar mix all salad dressing ingredients, cover with a lid and shake until well combined.
Drizzle the salad with the dressing and stir lightly to combine. Taste and adjust the seasoning if necessary.