Millets are grown abundantly in India but are considered underutilized grains that are recognized for their superior content of micronutrients such as iron, calcium, magnesium, zinc, B-complex vitamins, dietary fiber, and phytochemicals. Millets are renowned as health-promoting foods as they are having low glycemic index and a gluten-free nature, which are predominantly for populations at risk of cardiovascular diseases, diabetes, and celiac disorders. A potential way to address nutritional deficiency and food system sustainability is the fortification of food products with millets. The function of millet fortification with various food matrices such as bakery products, animal-based products, extruded snacks, dairy-based products, beverages, and composite flours. The main highlight of this chapter is how fortification with millets increases nutritional quality, also contributes to product variety, enhances shelf life, and phytochemical properties due to the millets’ functional properties. Additionally, improvement in processing techniques such as encapsulation, malting, roasting, fermentation, extrusion, soaking, and milling has improved the bioavailability of nutrients in millet-based fortified foods while reducing the anti-nutritional factors. In spite of their nutritional supremacy, challenges such as organoleptic acceptance, processing compatibility, and consumer awareness about the product in the markets exist. Market accomplishment depends on strategic preparation and knowledge about the health benefits of millets. Hidden hunger and dietary accomplishment can be addressed by the implementation of policies such as integrating millets into national nutritional programs and public food distribution systems. Thus, fortification of different food systems with millets connects universal health concerns, sustainable development goals, and provides a clear passage towards more durable and nutritionally wealthy food systems.