In a saucepan, add the almond milk and sugar and bring to a boil. Add the millet, stir well, and cook on low for 8 minutes, stirring occasionally. Add the cinnamon, cacao powder, and chocolate. Stir well and cook for 5 minutes, stirring constantly. If it gets too dry, add a little more almond milk.
Remove from the heat and divide between 2 bowls or large mugs. Top with pear slices, nuts, and chocolate; serve.