Pit dates if needed and place in bowl with nondairy milk and vanilla. Make sure the dates are covered with the liquid. Set aside for 15 minutes.
Using a food processor or blender, grind the oats and millet into flour for about 40 seconds. The millet is hard and won't break down completely.
Transfer the ground oat and millet mixture to a medium sized bowl and mix in the cinnamon, baking powder, baking soda, ginger and nutmeg. Mix well.
Place the dates and nondairy milk mix into a food processor or blender and blend until smooth.
Stir the liquid mixture into the dry mixture and mix well.
Add the zucchini and chocolate chips or nuts if using.
Spoon the batter into a paper or silicone cup lined muffin pan. Fill almost to the top as the mixture will not rise very much. If you want to make more smaller muffins, fill each muffin cup only 3/4 of the way full.
Bake in a 350° oven for 25-30 minutes. To test for doneness, the top should be medium brown and the muffins firm, but dense and moist inside.
Let cool for 10 minutes before removing from the pan and placing on a cooling rack. Let cool° before serving.