01 - Preheat oven to 425°F. Line a rimmed baking sheet with parchment paper.
02 - Quarter the bell peppers, removing stems and seeds. Place them skin-side up on the prepared baking sheet. Roast for 20 minutes until the skins blister and char in spots.
03 - Transfer the hot peppers to a bowl and cover tightly with a plate. Let steam for 10 minutes, then peel away the charred skins and slice the peppers into thin strips.
04 - While the peppers roast, rinse the millet under cold running water. Combine the millet, water, and 1/2 teaspoon salt in a medium saucepan. Bring to a boil over medium-high heat, then reduce to low, cover, and simmer for 15 minutes until the liquid is fully absorbed. Remove from heat and let stand, covered, for 5 minutes. Fluff with a fork.
05 - In a large mixing bowl, whisk together the extra-virgin olive oil, fresh lemon juice, Dijon mustard, and minced garlic. Season with salt and black pepper to taste.
06 - Add the warm cooked millet, sliced roasted peppers, red onion, cherry tomatoes, and chopped parsley to the dressing. Toss thoroughly until everything is evenly coated.
07 - Serve the salad warm or at room temperature as a light lunch or a vibrant side dish.