Tofu Stir-Fry with Millet and Ginger-Sesame Sauce

By Lauren Mitchell, Test Kitchen Director · Reviewed by AislePrompt Editorial · Published 2026-05-07 · Updated 2026-05-07

A nourishing bowl of fluffy millet topped with crispy pan-seared tofu and vibrant vegetables coated in a zesty ginger-sesame sauce. This Asian-inspired healthy bowl recipe (vegetarian), ready in about 45 minutes, pairs millet, water, extra firm tofu for a weeknight-friendly dinner that comes together with one pan and minimal cleanup. Each serving lands at about 400 calories and feeds 4, so it slots cleanly into a weekly meal plan and pairs well with a quick salad or grain on the side. Tap "Plan a meal with the AI" below to drop this recipe into your week and send the ingredients straight to Instacart. Nutrition values are approximate, calculated from USDA FoodData Central (fdc.nal.usda.gov) — verify against ingredient labels for any health-driven dietary plan.

Ingredients

• 1 cup millet
• 2 1/2 cups water
• 14 oz (400g), pressed and cut into 1-inch cubes extra firm tofu
• 3 tbsp cornstarch
• 2 tbsp, divided sesame oil
• 2 cups broccoli florets
• 1 medium, sliced red bell pepper
• 1 large, julienned carrot
• 2, thinly sliced green onions
• 1 tbsp, grated fresh ginger
• 2, minced garlic cloves
• 3 tbsp soy sauce
• 1 tbsp rice vinegar
• 1 tbsp honey
• 1/4 tsp, optional red chili flakes
• 1 tbsp toasted sesame seeds

Instructions

1. Step 1: Rinse 1 cup millet under cold water. In a medium saucepan, combine millet with 2 1/2 cups water and a pinch of salt. Bring to a boil, reduce heat to low, cover, and simmer for 20 minutes until water is absorbed and millet is fluffy. Remove from heat and let stand covered for 5 minutes.
2. Step 2: While millet cooks, toss 14 oz pressed and cubed extra firm tofu with 3 tbsp cornstarch until evenly coated. Heat 1 tbsp sesame oil in a large nonstick skillet over medium-high heat. Add tofu cubes and cook for 4-5 minutes per side until golden and crispy. Remove tofu and set aside.
3. Step 3: In the same skillet, add remaining 1 tbsp sesame oil. Add 1 tbsp grated fresh ginger and 2 minced garlic cloves; sauté for 30 seconds until fragrant. Add 2 cups broccoli florets, 1 sliced red bell pepper, and 1 julienned carrot. Cook for 5-7 minutes, stirring occasionally, until vegetables are tender-crisp.
4. Step 4: In a small bowl, whisk together 3 tbsp soy sauce, 1 tbsp rice vinegar, 1 tbsp honey, and 1/4 tsp red chili flakes (if using). Pour sauce over vegetables and stir to coat. Return tofu to the skillet and toss gently to combine and warm through.
5. Step 5: Divide millet among 4 bowls. Top each with tofu and vegetable stir-fry. Garnish with 2 sliced green onions and 1 tbsp toasted sesame seeds before serving.