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Rinse the millet in a fine-mesh strainer under cold running water until the water runs clear. Combine the rinsed millet, 3 cups water, and ½ tsp salt in a medium saucepan and bring to a boil over medium-high heat. Reduce the heat to low, cover, and cook until the water is fully absorbed and the millet is tender and fluffy, about 18 minutes.
Remove the saucepan from the heat and let the millet steam, covered, for 5 minutes, then fluff with a fork.
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