Place the millet in a fine mesh strainer and rinse under cold running water for two minutes. Set aside and allow to drain completely.

In a medium saucepan over medium heat, heat the oil and garlic. When the garlic begins to sizzle, add the onion and jalapeno. Fry, stirring occasionally, until the onion is soft and slightly golden 6-8 minutes. Add the millet, stir to coat, and cook for 4 to 6 minutes, until the millet is slightly golden. Pour in the vegetable broth and add the tomato paste, salt, cumin, and tomato. Bring the mixture to a boil, stir once, and cover. Lower the heat to low and cook for 25 to 30 minutes or until all liquid is absorbed. Remove from the heat and allow to sit, covered, for 10 minutes. Sprinkle with chopped cilantro and fluff with a fork. Garnish with fresh lime juice, if desired.