Like other grains, millet can be ground into flour. I see no need to remove the husks when doing that. Millet does not contain gluten, so when used as the only grain in breads yeast will not make them rise. You can combine millet with other grains which have gluten for recipes with yeast though. Millet flour is just fine alone for flat breads and pan cakes. The kernels are quite small and easy to grind in a hand powered mill like the one shown in the photo designed for poppy seeds. For hot cereal coarsely grinding is enough. Next to the box with the hand mill is a quart jar of whole millet and then a pint jar with millet soaking in water as an experiment.