Rinse and drain the millet, put it into a saucepan with 200ml vegetable stock. Cover, reduce heat to a simmer and cook for 20 - 25 minutes until tender and the stock has been absorbed. Transfer to a bowl.
Preheat your oven to 180C
Add the remaining ingredients to your millet and mix well.
Whisk the dijon and dill into the yoghurt.
Line a baking sheet with non stick baking parchment and spoon the burger mix into 6 equal heaps, flatten with your hand into burger shapes.
Bake in the oven for 15 minutes, flip them over and cook for a further 10 minutes.
Serve the burgers hot or cold with the dill yoghurt.