Rinse the millet under cold water and place in a pot with 1/2 cup of water. Bring to a boil, then reduce heat to low, cover, and simmer for 15 minutes until fluffy.
In a separate saucepan, combine the red lentils, diced zucchini, and vegetable broth. Simmer over medium heat for about 12-15 minutes until the lentils are tender and have absorbed most of the liquid.
While the lentils cook, press the tofu with a paper towel to remove excess moisture and cut into 1/2-inch cubes.
Heat the olive oil in a non-stick skillet over medium-high heat. Add the tofu cubes and sear for 3-4 minutes per side until they are golden brown and crispy.
Stir the broccoli florets into the lentil stew during the last 3 minutes of its cooking time to lightly steam them.
Season the stew with salt, pepper, and toasted cumin to taste.
To serve, scoop the cooked millet into a bowl, top with the red lentil and zucchini stew, and finish with the crispy tofu cubes.