Rinse the millet with water. Transfer it to a bowl and soak it in water for 30 minutes. Soaking reduces the cooking time of millet.
Combine both lentils in a bowl. Rinse them with water, then soak them in water for 15 minutes.
Heat oil in a stovetop pressure cooker. Once hot, add cumin, cloves, dried red chillies, and asafoetida. Saute for 20 - 30 seconds to release the aroma of spices and infuse their flavour into the oil.
Add onion and saute them till they turn light brown. This takes 2 - 3 minutes.
Next, add ginger garlic paste, tomato, salt, turmeric powder, and red chilli powder. Stir to combine. Saute the masala till the tomatoes break down.
Add soaked vegetables, millet, and lentils. Saute for 2 minutes.
Add water, mix, and pressure cook millet khichdi for two whistles over low heat. After two whistles, turn off the heat. Allow the steam to release naturally from the pressure cooker.
Once you open the lid of the pressure cooker, add ghee, fresh coriander leaves, and mix one last time. Millet Khichdi is ready to serve.
Serve Vegetable Millet Khichdi warm.