Bring 2 cups of water to a boil in medium saucepan. Add the millet and salt. Cover, reduce the heat to low and cook for 35 minutes or until the water is absorbed and the millet is soft.
Stir in the milk, ground cinnamon and maple syrup, adjusting the seasonings to taste.
Divide into serving bowls. Top each bowl with sliced bananas, walnuts and, if desired, a bit more cinnamon and maple syrup.
I like using a 1/2 teaspoon kosher salt, but the results are bordering on salty when you taste the millet by itself. The porridge tastes very balanced when you eat everything in one bite - the millet balances nicely against the sweetness of the banana/maple and the bitterness of the walnuts. You may want to start with 1/4 teaspoon and add the rest at the end if you think it needs it.