Combine maple syrup, salt, water and pear wedges in a medium saucepan.
Bring to a simmer over medium-high heat. Then lower the heat, keeping a gentle simmer and cover pan loosely with a lid.
Cook gently until the pears are tender and can be easily pierced with a thin knife. It they’re very ripe this can take as little as 10 minutes.
Remove the fruit from the pan to a bowl, but keep the liquid in the pan. Raise heat to medium-high and simmer, stirring frequently, until it has reduced to about 1/2 of its original volume. Then pour it over the fruit and allow it to cool completely.
Make the millet porridge
Combine millet, water, almond milk and salt in a saucepan and bring to a boil over medium heat.
Cook on low simmer for 10-15 minutes, stir occasionally to prevent millet from sticking. Once the millet has puffed up a bit and is tender when you taste it, it is done.
Remove from heat and serve immediately. Spoon it into bowls and top with poached pears, yogurt, honey and anything else you like.