Cooking Steel Cut Oats Pot-in-Pot (read above to see why this is recommended)
Add 1 cup water in the inner pot for 6 qt, 2 cups for 8 qt. Place the trivet. Assemble oats and milk (or water) in an oven safe bowl that fits easily in the Instant Pot, and place on top of the trivet.
Close lid. If using a DUO, turn the vent to sealing position. Set Porridge mode and adjust the time to 15 mins. For a more firm and chewy texture, set 10 mins.
Wait for natural pressure release (NPR). This prevents the oats from sticking to the bottom. Open lid and stir. Add agave, or the sweetener of your choice. Adding sweetener is optional.
Cooking in Main Pot
Add oats and milk (or water). Stir and close lid. If using a DUO, turn the vent to sealing position. Set Porridge mode and adjust the time to 15 mins. For a more firm and chewy texture, set 10 mins.
Wait for natural pressure release (NPR). This prevents the oats from sticking to the bottom. Open lid and stir. Add agave, or the sweetener of your choice. Adding sweetener is optional.
Notes
Grease the Pot: Steel cut oats have a tendency to stick to the bottom, irrespective of how much liquid you add. So, to avoid the burn message, I would recommend that you grease the pot using any cooking oil or spray, like Pam.
Smaller Quantity using PIP method: If you're cooking a small batch of oatmeal, like ½ cup, I would recommend cooking it using the pot-in-pot cooking method. This avoids the burn message. You can cook individual portions in mason jars or any oven safe bowl.
Natural Release of Pressure: This is one of those recipes where patience really pays. If you quickly release the pressure, the oats might stick to the bottom. Also, you don't want the frothy liquid to squirt out from the valve.
Choose your Cook time: This will totally depend on the texture you like. If you like slightly chewy steel-cut oats, go for 10 minutes of cooking time. But if you're like me, and like your oats creamy and soft, 15 minutes of pressure cooking time should be perfect.
Choose your liquid: In this recipe, I cook my oats in milk, because that's how we like it in my home. If you like, you can cook your oats in water and top them with a milk of your choice later. This recipe can also be used to cook oats in Almond Milk.
Note: The nutrition facts below are based on using 2% milk in this recipe, and are my estimates. If you are following any diet plan, I recommend cross-checking with your preferred nutrition calculator.