Bring 100ml hazelnut milk (alternatively, normal cow`s milk or any plant milk) in a saucepan together with the millet to a boil and stir well. Then reduce the heat a little and simmer gently for about 10 minutes (until the millet is cooked through). Stir in the baking cocoa and agave syrup (amount as desired and according to the desired sweetness, alternatively sweetener, sugar or stevia can also work here) into the millet porridge. Chop the peanuts and mix them with the millet porridge. Enjoy the whole thing warm or cold together with pieces of banana.