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In a large saucepan over medium-high heat, warm the olive oil, and sauté the onions and garlic with 1/4 teaspoon of the salt for about 5 minutes, until soft and translucent.
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Stir in the millet, cauliflower, vegetable broth, and 1/4 teaspoon of the salt, increase the heat to high. Bring the mixture to a boil, and then reduce the heat to medium, and simmer for about 40 minutes, stirring regularly until the millet is cooked through, the liquid has been absorbed, and the dish has the consistency of creamy mashed potatoes. Add more broth as needed.
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With a wooden spoon or potato masher, break up any remaining large pieces of cauliflower. Stir in the tahini, add the remaining teaspoon of salt, and the pepper. Add tahini, salt, and pepper to taste.
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Stir through the chopped parsley, and serve.