After 4 hours, drain the water. Grind soaked millets to a smooth paste. Pour the millet batter in a deep bottomed utensil.
Next, grind urad dal (Bengal gram dal) to a smooth paste by adding 2 tablespoon water. Pour this into the same utensil in which the millet batter is added and mix well.
Cover and keep the batter aside for 8 hours for fermentation.
After 8 hours, add salt to taste and mix well.
Heat a tava or dosa pan.
Smear 1 teaspoon oil on the dosa pan. Oil is not needed incase you use a non-stick pan.
Spread a ladle full of batter and spread it in circular directions.
Drizzle 1 teaspoon oil on the dosa.
Keep the flame on medium heat and cover the dosa pan.
Cook for 2 minutes.
You need not flip it to other side. It gets cooked on the covered non-stick pan and comes off easily.
Flip to other side only if you are not using a non-stick tava/pan.
Serve hot with garlic or pudina chutney.