In a small pot, bring the 2 cups of milk, cinnamon and millet to a boil and immediately reduce to a simmer. It's best to keep the lid on, but check it from time to time. Different milks may need a slightly different amount than what's listed above. So just be sure it doesn't cook out before the millet is soft and cooked (about 30 minutes, depending on the milk).
When the millet is cooked, put 1/3 of it into a bowl, sprinkle with a little extra cinnamon and an extra dash of milk. Add one, cut up peach and 1/4 cup pecans to each bowl (assuming you are making all three servings).
Please note that the nutrition data given here is a ballpark figure. Exact data is not possible.