Spiced Millet Stew with Onions

Name: Spiced Millet Stew with Onions
Ingredients: 1 cup millet (6 ounces); 3 tablespoons vegetable oil; 1/2 teaspoon cumin seeds; 3 medium onions, finely chopped; 1 tablespoon minced garlic; 3 cups water; 1 cup plain whole-milk yogurt; 2 teaspoons ground coriander; 1/2 teaspoon turmeric; 1/2 teaspoon crushed red pepper; Kosher salt; 1 serrano or other green chile, seeded and minced; 1 tablespoon chopped cilantro