Rinse millet well in a fine mesh strainer. In a pot, put millet and water. Bring to a boil. Reduce heat to low and simmer covered for 30 minutes.
Bring salted water to a boil in a pot. Add rainbow filet beans (or green beans). Blanche for 3 minutes. While blanching, prepare a bowl of ice water. When green beans are finished blanching, drain and submerge in ice water to stop cooking. Cut into 1-inch pieces.
Make dressing by combining all ingredients in a mason jar. Shake well.
In a large bowl, put cooked millet, rainbow filet beans (or green beans), sungold tomatoes, chopped almonds. Stir to combine well. Add dressing and toss well.