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Plant-based milk refers to a plant-derived liquid that mimics the texture and appearance of bovine milk. Plant-based milk alternatives (PMAs) have emerged as viable substitutes for cow’s milk, driven by rising consumer demand for allergen-free, nutritionally enriched and environmentally sustainable products. This review provides an in-depth examination of millet milk, focusing on its nutritional profile, processing technologies, functional properties, health implications and ecological sustainability. Millets, often referred to as “nutri-cereals,” are inherently gluten-free and abundant in essential nutrients, antioxidants and bioactive compounds, making them particularly suitable for individuals with lactose intolerance, as well as vegan and health-conscious populations. Both traditional (soaking, germination, fermentation) and advanced methods (ultrasonication, enzyme-assisted extraction, high-pressure processing) are emphasized for their roles in improving the nutritional quality, sensory acceptability and storage stability of millet-based milk. Furthermore, millet milk demonstrates significant potential in functional food innovation, including probiotic beverages, dairy analogues and health-oriented snacks. Beyond notable health benefits such as anti-inflammatory, anti-diabetic and gut-regulatory effects, millet cultivation supports sustainable agricultural practices due to its minimal input requirements and low environmental impact. Nevertheless, concerns regarding product uniformity, consumer acceptance and regulatory policies remain. Ongoing advancements and growing awareness indicate that millet milk could substantially contribute to the future of plant-based dairy, while promoting food security and environmental resilience.
Bioactive compounds, Functional food, Millet milk, Plant-based milk, Processing innovations, Sustainable nutrition, Vegan dairy alternative