Toast the millet in a dry medium saucepan over medium heat, stirring occasionally, 3 to 5 minutes. Add 1 cup water and bring to a boil. Cover, reduce the heat to medium low and cook until the water is absorbed, about 15 minutes. Set aside.
Meanwhile, pat the tofu dry between paper towels. Heat 3 tablespoons olive oil in a large nonstick skillet over medium heat. Add the tofu and cook, turning once, until well browned and slightly crisp, about 15 minutes.
While the tofu is cooking, remove the kale stems and chop the leaves into bite-size pieces; place in a large bowl. Add 1 tablespoon of the lemon juice and rub it into the kale with your fingers until the kale softens, 3 to 5 minutes.
Whisk the remaining lemon juice with the tahini and honey in a small bowl; add the remaining 2 tablespoons olive oil and whisk until smooth. Whisk in 2 tablespoons water and season with salt and pepper. Add 2 tablespoons dressing to the kale; add the cabbage, onion and a pinch of salt and toss well.
Fluff the millet with a fork and add to the kale mixture along with the sunflower seeds and sesame seeds; toss to combine. Divide the salad among bowls and top with the tofu. Drizzle with any oil from the skillet and the remaining dressing.