Preheat oven to 350˚F and line a 12 muffin tray with muffins liners.
In a large bowl, combine the flour, millet, spices, baking powder, and salt.. Give a quick stir and set aside.
In a separate bowl whisk together the yogurt, maple syrup, egg, and melted butter. Add the yogurt mixture and carrots to the dry mixture. Stir only until batter comes together- you don't want to over mix.
Divide batter evenly into 12 muffins and bake for 22-25 minutes or until a knife is inserted and comes out clean. Store muffins in an airtight container for 3 to 4 days or freeze for longer storage.
Notes
If the carrots seem moist, place in a colander and press out as much of the liquid as you can.