Sorghum, pearl millet, and finger millet flours (60% of each) were blended with toasted mung bean flour (30%) and nonfat dry milk (10%) and extruded (Brabender single screw) to make precooked, ready-to-eat, weaning foods. The extruded foods had high cold paste viscosity, but their cooked paste viscosity was lower than that of the respective blends. Chemical scores of the extruded foods were 78 for sorghum, 80 for pearl millet, and 96 for finger millet. Protein digestibility corrected amino acid scores (PD-CAS) were similar for pearl millet (68%) and finger millet (69%); PD-CAS for sorghum was 57%. Total dietary fiber content of the foods ranged from 7.6 to 10.1%, with the soluble dietary fiber content of the foods being about 10% higher than that of the corresponding blends. Extrusion enhanced the in vitro protein digestibility of foods, but no marked difference occurred in the in vitro carbohydrate digestibility among the unprocessed blends and the extruded foods. The net protein ratio, protein efficiency ratio, and biological values were higher for the finger millet food than for the pearl millet food, probably because of the higher lysine content of the finger millet protein.