Put the millet in a medium saucepan over medium heat and swirl until lightly golden and toasted, 6 to 8 minutes. Pour in 1 1/2 cups of water and bring to a boil. Reduce heat to medium low, cover and simmer until most of the water is absorbed and the millet is tender, about 15 minutes. Remove from the heat and let sit, covered, for 10 minutes. Fluff with a fork and cool.
Combine the cooled millet, parsley, cucumbers, tomato, radishes, scallions, lemon juice, oil, 3/4 teaspoon salt and a few grinds of pepper in a medium bowl. Serve at room temperature or chilled.
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