Set the millets in the pressure cooker with three time the water. Cover and let it cook for two whistles.
Once the pressure is released fluff the millets and add to a large mixing bowl and set it to cool to room temperature. this will prevent the splitting of yogurt when added.
Add in the yogurt and mix well.
If it gets thick, add little more milk. Add salt,a pinch of asafoetida and mix well.