1. Cook the millet according to package directions. Fluff with a fork and set aside to cool.
2. Add the purple cabbage, carrots, sugar snap peas, cilantro and green onion to a large mixing bowl. Once cool, add the millet and toss to combine.
3. Mix the peanut butter and soy sauce in a microwave-safe bowl and heat until the peanut butter is soft and easy to stir. Add the ginger, agave, rice vinegar, sesame oil, lime juice and red pepper flakes. Whisk together to fully incorporate the flavors. Add water to thin, as needed.
4. Pour the Thai peanut sauce atop the millet/vegetable mixture and stir to thoroughly coat. Sprinkle the peanuts on top of the salad and chill until ready to serve.