Combine millet, water, milk, and salt in a medium saucepan over medium high heat.
Allow millet to come to a light boil and then reduce heat to a simmer for about 20 minutes, until thick. Stir often!
While millet simmers, toast pecans in a toaster oven or dry skillet until fragrant, about 3 minutes. Be careful not to burn them.
When thick, stir pumpkin, maple, vanilla, pumpkin pie spice, and raisins into millet.
Portion porridge into four bowls and top each with a tbsp of pecans.
Serve with an 8 ounce glass of milk on the side.