Mix the urad dal, rice, millet, quinoa and water in a large bowl. Cover and let soak to soften for 8 hours.

After the soak, puree the mixture (including the soaking water) in your blender in batches and add to your Instant Pot liner. 

Place the liner in your Instant Pot, cover and press the yogurt setting. Leave it at the default 8 hours for it to ferment.

Note: You can store the fermented mixture in your fridge for up to 1 week or you can cook up all the pancakes at once and freeze them to heat for later.

Heat a nonstick skillet over medium heat. Once hot, add ½ cup (120 ml) of the batter per pancake and shape into a circle. Cook until bubbles begin to form.

Sprinkle the topping you choose over the top of the pancake and press in a little with your spatula. Flip the pancake and cook until both sides are browned.

Place on a plate and cook the next one. You could also have more than one skillet going at a time.