Heat sesame oil in a large pot over medium-high heat. Add chopped garlic and saute for 3 minutes, or until fragrant. Add millet and stir until the millet toasts. Add cauliflower and broth, reduce heat to low and cover. Simmer for 30 minutes, checking progress periodically, Should mixture dry out, add a splash more broth. After half an hour, all the liquid should be absorbed and the millet should have a porridge like consistency.
Using an immersion blender, food processor or the back of a spoon, puree millet and cauliflower. It should smooth out and fluff up a bit. Stir in miso and sake and serve.
Heat oil in a large skillet over medium-high heat. Add chopped garlic and ginger and saute until golden and fragrant, about 5 minutes. Add sliced turnips and coat with oil, stirring for another 3 minutes. Work in greens and stir until just starting to wilt.
Reduce heat to medium, add vegetable broth, tofu and soy sauce. Continue cooking until heated through and greens are tender, about 8 minutes.