Add the grains to your rice cooker pot, and cover with water. Agitate the grains with your hands. Pour off the excess water—as much as you can without losing the grains. Some residual water is okay.
Add the 1½ cups of cooking water, put the pot in the rice cooker, and press the button. For fluffier rice, let the millet rice steam on the “keep warm” setting for another 10-15 minutes after it's done.
If you don’t have a rice cooker, soak the rice and millet in a medium/small size pot (we use a 3 qt pot). Cover the grains with 1 inch of water. Soak for 20 minutes. Agitate the grains to release any excess starch, then drain the water. If a little water is left behind in the pot that’s okay. Add 1¾ cup water. Cover, bring to a boil, and immediately reduce to the lowest setting. Cook for 15-20 minutes. Turn off the heat, and fluff the millet rice with a fork or rice paddle.
Notes
Note that in the recipe, we're using U.S. standard cups! The cup that came with your rice cooker is actually equivalent to U.S. ¾ cup (we talk about it more in this video), so don't use it here.