Add olive oil to pan and heat on medium-high. Add carrots (I used purple and yellow carrots, as that's all I had, but any color works!), onion, and garlic. Sauté for about 5-minutes until onions become translucent
Add salt and pepper to taste. Note that you may need less salt if you're using table salt. I'm using coarse mineral salt.
Add saffron, crumbling it up in your fingers as you sprinkle it into the pan.
Add the Millet, cooking for a few minutes to lightly toast the grain. You don't want to see any color difference so be careful not to burn it.
Add the chicken broth or water. Note that you can decrease the amount of chicken broth if you prefer a drier Millet, or increase it more if you prefer a wetter Millet.
Add the juice from one lemon. Bring liquid to a simmer, cover and reduce heat to low until all water has been absorbed, about 25 minutes. Turn off heat, and let sit, covered, until tender, 10 minutes more.
Add parsley. You can use fresh parsley. I didn't have any on-hand so I used dried parsley.
Add the zest of one lemon and serve!