Yes, millet can be soaked overnight. Soaking millet overnight before consumption is recommended in order to make it more digestible and nutritious. This process helps to reduce the anti-nutrient content present in millet and also makes it easier to digest. Soaking millet overnight allows the grain to absorb water, which begins the sprouting process and activates enzymes that break down phytic acid and other compounds that can hinder nutrient absorption. By soaking millet, you can enhance its nutritional value and improve its digestibility. Therefore, soaking millet overnight is a beneficial step to take before cooking or consuming it.