Preheat your oven to 400F and line a baking sheet with parchment or foil. Toss the carrots with 1 tablespoon of the olive oil, maple syrup, and ground cumin. Transfer the carrots to the baking sheet and sprinkle generously with coarse salt and black pepper. Transfer the carrots to the oven and roast for 35-40 minutes, or until they're gently caramelized.
While the carrots roast, heat the remaining tablespoon olive oil in a medium sized pot. When the oil is shimmering, add the cumin seeds. (If you're substituting ground cumin, add it when you add the broth and other spices instead.) When the cumin seeds begin to smell fragrant and sizzle, add the onion and celery. Cook for 5 minutes, stirring frequently, or until the onion is soft and clear. Add the millet and continue cooking for another 2-3 minutes, or until the millet smells slightly nutty. Add the vegetable broth, salt, turmeric, coriander, cinnamon, and red pepper flakes. Bring the mixture to a boil. Reduce the heat to low, cover, and simmer for 18-20 minutes, or until the liquid has been absorbed. Remove the millet from heat and allow it to sit for 10 minutes.
While the millet cooks, whisk together the lemon garlic tahini dressing. Add water by the tablespoon as needed to achieve a consistency you like.
Fluff the millet gently with a fork, then fold in the chickpeas, roasted carrots, and lime juice. Taste the pilaf and adjust salt and pepper as needed. Serve the pilaf over a bed of fresh arugula, if desired, and top with chopped fresh herbs, pine nuts, pomegranate seeds or molasses (or all of those). Drizzle generously with the lemon garlic tahini dressing.
Notes
Leftover pilaf will keep for up to 3 days in an airtight container in the fridge.