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Combine the rinsed millet, 3 cups water, and ½ tsp salt in a medium saucepan. Bring to a boil over medium-high heat, then reduce the heat to low, cover, and cook for 18ā20 minutes, until the water is fully absorbed and the millet is tender and fluffy.
Remove the saucepan from the heat and let the millet rest, covered, for 5 minutes, then fluff with a fork.
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