Lightly grease outsides of 6 (10-ounce) custard cups with shortening (do not use cooking spray). Place cups upside down on large cookie sheet.
Divide dough into 6 equal pieces. Shape each piece into ball. Roll or pat each ball into 6-inch round. Place dough round over bottom of each custard cup, stretching to fit. Brush dough with 1 tablespoon oil; sprinkle with basil. Cover; let rise in warm place 20 minutes.
Heat oven to 350°F. Bake bread bowls 16 to 20 minutes or until golden brown. Cool 5 minutes; remove from cups to cooling rack. Cool completely, about 30 minutes. (Interiors of bread bowls may be slightly moist.)
Meanwhile, in 3-quart saucepan, heat 2 teaspoons oil over medium-high heat. Add beef, onion, garlic, herbes de Provence, salt and pepper. Cook 5 to 6 minutes, stirring occasionally, until beef is lightly browned.
Stir in broth, tomatoes and water. Heat to boiling. Reduce heat to low. Cover; simmer 45 minutes. Stir in millet, carrots and green beans. Cook uncovered about 25 minutes or until beef is tender. Serve stew in bread bowls.