Key idea? Use a circular, wet muslin cloth in the idli maker so that the idlis don't stick.
Video has English sub-titles. Probably the best video with all the steps explained in detail.
Idea: we can wet the cloth before placing it in idli maker.
Idea: stitch the periphery of circular cloth that is placed in idli maker.
Recipes (without videos): Whole Grain Idlis — Whole Grain Idlis — Kodo Millet Idlis
Uses a long list of ingredients including whole wheat flour, soya bean flour and salt. For tempering, the ingredients are mustard seeds, cumin seeds, urad dal, chana dal, curry leaves, 'eno / fruit salt' / 'cooking soda'.
Green Gram and Urad Dal batter mixed together. Another Video (77 sec).