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Toast millet in a medium pot over medium-high heat until fragrant and just golden brown, 3 to 5 minutes.
Add 2 cups water, bring to a boil, then cover and simmer until liquid is almost absorbed, 20 to 25 minutes.
Set aside for 5 minutes; uncover and fluff with a fork.
Meanwhile, heat 1 1/2 teaspoons of the oil in a large skillet over medium high heat.
Add Brussels sprouts, onion, salt and pepper and cook until golden, about 5 minutes; transfer to a large bowl.
Heat remaining 1 tablespoon oil in the same skillet, add mushrooms; cook until golden, stirring often, about 5 minutes.
Add half-and-half and sage and simmer until thickened, 1 to 2 minutes more.
Transfer to the bowl with Brussels sprouts, add cooked millet, lemon juice, and then toss. Serve immediately.