Place soaked millets in a medium-sized pot with a lid, on high heat. Add basil and oregano and stir well, until the millet is coated with the herbs. Now add in the minced garlic and reduce heat to low-medium. Cook for 1 minute and add in the tomatoes, vegetables, non-dairy milk, water, nutritional yeast, miso and salt. Stir well and bring to a gentle boil. Cover and reduce heat to low.
Cook, covered (with a slight gap for air to escape) for 30-35 minutes, stirring every 5 minutes or so. Be careful to not burn the millet at the bottom of the pot. The mixture should be creamy, but not soupy and the millet should be very chewy and not mushy. Serve immediately.
Serves 4 side dishes and makes 2 cups worth