Combine millet, water, pumpkin, and spices together in a sauce pan. Stir and bring to a boil the cover and reduce down to a simmer. Let cook for 20-30 minutes until millet is cooked and tender. Stir and check occasionally while cooking, adding extra water as needed. It's all about the kind of texture and consistency you want.
When almost done, add a bit of maple syrup and taste. Start on the low end (a teaspoon or two) and continue until you've reached a desired sweetness.
Remove from heat and serve with toasted walnuts (and a bit of heavy cream if you like!)