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Place the dates, nondairy milk, and vanilla into a small bowl or cup, and set aside for at least 15 minutes so the dates can soften.
Preheat the oven to 350°F, and move your oven rack position to just below center. Fill a 12-well muffin pan with parchment paper liners (regular paper liners will stick).
Place the rolled oats and millet into a blender, and grind into flour (30 to 40 seconds; millet is hard). Transfer to a medium bowl, and whisk in the baking powder, soda and pumpkin pie spice.
Transfer the dates, milk and vanilla to the blender, and add the pumpkin. Blend until smooth.
Pour the date-pumpkin mixture into the bowl of dry ingredients, and stir until all of the dry ingredients disappear. Fill each muffin liner equally with batter (use a soup spoon or a 3-tablespoon scooper).
Bake for 28 to 29 minutes. Remove from the oven and let sit for 5 minutes before transferring to a cooling rack. Cool completely (or nearly) before eating to allow the muffins to fully set.