Millet can be really lovely. You need to cook it for long enough, and those nasty little yellow balls of granite turn into delightful fluffy tiny popcorn.* A very light taste on its own - in fact it's a flavour a lot of people can't taste, so they think it is completely bland - but it responds well to herbs to bring that out.
I like it with a beany sort of stew.**
* Note for Charlotte: most people who have, er, 'that problem' with millet have eaten it undercooked IME.
** Note for Liz: it makes a nice textural addition to soup, too