Heat 1 T oil over medium heat, add shallots and garlic, and suauté, stirring constantly, for 2 minutes.
Add millet and cook, stirring for one minute to toast.
Add stock, bring to a boil, lower heat, and simmer, stirring occasionally, for 20-25 minutes, until tender. Add a little more water if needed.
Meanwhile, boil or steam the cauliflower for 10 minutes, until tender. Drain and rinse under cold water.
Purée the cauliflower, then add the rest of the oil, yogurt, salt, and pepper and purée until smooth. Add millet and process until well mixed.