Preheat the oven to 350ºF. Grease a 2-quart casserole dish.

Place the millet, rice milk, and water in a medium pot and bring to a boil. Turn off the heat and add the pumpkin. Whisk to combine. Add the remaining ingredients and whisk to combine. Transfer to the prepared casserole dish.

Cover the casserole and bake for 55-65 minutes, stirring once every 20 minutes or so, until most of the liquid is absorbed and the millet is very soft. (If the mixture appears too dry before the millet is cooked, add a bit more rice milk and return to the oven.) Stir again before serving. (May be frozen.)