Preheat oven to 475°F. Toss Brussels sprouts with 2tbsp oil, salt and pepper in a large bowl. Arrange them in a single layer on a baking sheet and bake for 20~24 minutes, or until brown and tender, stirring once in the middle. Cool for 5 minutes.
In a large saucepan, toast the millets on medium heat for 3~4 minutes or until golden.
Add 2cups of water, bring to a boil reduce heat, cover and cook for about 20 minutes or until all the water is absorbed and millet is tender. Transfer to a large bowl and cool for 5 minutes.
Stir in Brussels sprouts, walnuts, cranberries and parsley into millet.
In a small bowl, whisk together the remaining 3tbsp oil, vinegar, maple syrup, lemon juice and lemon zest in a bowl. Stir into millet mixture and season with salt and pepper. Serve warm!!