Cook the millet: Bring 3 cups of salted water to a boil in a large saucepan. Add the millet, lower to a simmer and cook, covered, for 20 to 25 minutes. Fluff with a fork, season with salt to taste and let it rest, covered, for 5 minutes. (You can do this ahead of time and refrigerate the leftover millet until you're ready to heat up the skillet).