Millet Idli is a healthy and gluten-free idli recipe made from a combination of millets like foxtail millet, barnyard millet, and little millet. Millets are rich in fiber, protein, and minerals, making them a nutritious alternative to rice. The millets are soaked, ground, and fermented to make the batter, which is then steamed to make soft and fluffy idlis. Millet idlis are best served with coconut chutney and sambar.