In a small saucepan, combine the water and the salt. Bring to a boil. Meanwhile, place a dry skillet over medium heat. When the skillet is hot, add the millet, and toast, stirring frequently, until the millet gives off a nutty aroma (I think it starts to smell like popcorn). Pour the toasted millet into the boiling water. Reduce to a simmer and cover. Simmer, covered, until all of the water is absorbed, about 20 minutes. Remove the saucepan from the heat and allow to cool to room temperature.

Place a dry skillet back over medium heat. Add the walnut pieces to the skillet and toast, stirring frequently, until the walnuts become fragrant. In a large bowl combine the millet, walnut pieces, dried cherries, balsamic vinegar, and olive oil. Stir until evenly combined.

Just before serving, tear the basil leaves into pieces and sprinkle them over the salad. Add the goat cheese and fold gently to combine. Serve immediately.