In a large saucepan over medium-high heat, cook the millet according to package instructions. Allow to cool completely before proceeding.
Mix all ingredients together and form into balls (about 1" diameter).
Place on cookie sheet lined with parchment paper and bake at 350 until brown, about 20 minutes. Turn once while baking.
Mom's notes: She bakes them just a little longer than 20 minutes as Dad likes these to be a little crispier. She does not recommend putting these into a sauce as they will fall apart if you do. Just serve them on the side. They are also good with a little cheese sauce and very good for you!