1. Put the water or broth and shoyu in a sauce pan and begin to bring to a boil. Meanwhile, place the oil, dry millet, carrots, and onions in a large skillet (preferably cast iron) over medium heat.
2. Toast the millet, stirring frequently until they turn a shade darker, and begin to smell nutty but not burnt (about 5 minutes).
3. When the grain is toasted, transfer into the boiling water, stir gently, and add the beans, if using.
4. Lower heat to a simmer and cook gently, covered, for 25-30 minutes until the grains are tender, and the liquid is absorbed. Fluff with a fork before serving.
Source of recipe: I wrote this recipe.