Simply said, you use millet as you use rice. So you can simply cook millet, steam it, make risotto or pilav, (semi-) ground it into flour for baking (often in combination with other types of flour) or to make (semolina) porridge or other desserts. Millet is also soaked and only then ground into slurry to bake pancakes. You can also roast millet into a kind of small popcorn or use it as couscous or bulgur. In India, millet is often cooked in a pressure cooker, not so much to save time, but for an extra fluffy result. Loosen the grains after cooking, a bit like with couscous, to prevent them from clumping together. The different types of millet taste about the same (a little grainy and a little bitter) and can all be prepared in the same way.