Put the millet in a saucepan, add the milk, cover and bring to boil. Reduce the heat and cook covered for about 15 minutes until the millet is soft and absorbs all the liquid.
Add in the cocoa powder and honey. Mix thoroughly until the cocoa dissolves.
Blend in a feed processor or blender until smooth for about 2 minutes. At this point, you can add more milk to achieve the desired consistency.
Serve hot or cold, topped with berries.