Finely chop the carrot and garlic in a food processor.

Heat olive oil in a pot over medium heat.

Cook and stir carrot mixture, onion, and green bell pepper until softened, about 10 minutes.

Add millet and stir until fragrant and toasted, about 3 minutes.

Pour vegetable broth into the millet mixture.

Season with salt and black pepper to taste.

Reduce heat and simmer until broth is absorbed and millet is tender, about 20 minutes.

Stir in cilantro.