01 - Preheat the oven to 425°F. Line a large baking sheet with parchment paper.
02 - Arrange asparagus, radishes, carrots, snap peas, and red onion on the prepared baking sheet. Drizzle with 2 tbsp olive oil, sprinkle with salt and pepper. Toss to coat and spread into a single layer.
03 - Roast vegetables in the preheated oven for 18–22 minutes, stirring once halfway through, until tender and lightly caramelized.
04 - While vegetables roast, rinse millet under cold water. In a medium saucepan, bring vegetable broth to a boil. Add millet, reduce heat to low, cover, and simmer for 15–18 minutes until liquid is absorbed and millet is tender. Remove from heat and let stand, covered, for 5 minutes. Fluff with a fork.
05 - In a small bowl, whisk together lemon juice and 1 tbsp olive oil.
06 - To serve, divide millet among four bowls. Top with roasted vegetables. Drizzle with lemon-olive oil dressing. Garnish with fresh herbs, lemon zest, and crumbled feta if desired.