01 - Combine millet, water, and salt in a medium saucepan. Bring to a boil, then reduce heat to low. Cover and simmer for 15 minutes, or until the water is absorbed and millet is tender. Remove from heat and let stand, covered, for 5 minutes. Fluff with a fork and let cool slightly.
02 - While the millet cooks, halve the cherry tomatoes, dice the cucumber and avocado, slice the red onion, and chop the parsley and mint.
03 - In a small bowl, whisk together olive oil, lemon juice, orange juice, lemon zest, Dijon mustard, garlic, salt, and pepper until emulsified.
04 - In a large mixing bowl, combine cooked millet, cherry tomatoes, cucumber, red onion, avocado, parsley, and mint.
05 - Pour the citrus-herb dressing over the millet and vegetables. Toss gently to combine, ensuring everything is evenly coated. Serve immediately at room temperature or chilled.