When the cooking time is up, remove the pot from the heat and let it sit, covered, for 10 minutes. That's it. During that time, the bottom layer of grains will loosen from the bottom of the pan and can be easily scooped out with the rest.
I use this technique whenever I cook rice on the stove, and with other grains like barley or steel-cut oats that have cooked away too much water and adhered to the bottom of the pot. It works every time and makes clean up so much easier.
Do you have any tips for cooking grains on the stove?
Related: What Is the Best Way To: Cook Rice?