Mix the oats, quinoa, and millet in a fine mesh strainer and rinse for about a minute under running water; set aside.

Heat one tablespoon of the almond oil in a 3-quart saucepan over medium heat. Add the rinsed grains and cook for 2-3 minutes or until they begin to smell toasted. Stir in the water and salt.  Bring to a boil, cover, turn down the heat, and simmer for 20 minutes. Turn off the heat and let sit for 5 minutes, then remove the lid and fluff with a fork. Spread the hot grains on a large, rimmed baking sheet and let cool for at least half an hour.

Transfer the grains to a large bowl. In a separate medium bowl, whisk together the remaining oil and the orange juice. Whisk in the syrup, yogurt, cinnamon and vanilla. Pour the yogurt mixture into the grains and stir until well coated. Taste and season with additional salt, if needed. Cover and refrigerate overnight for the flavors to develop.