Actually I think it may be better to respond publicly as i'm sure many of our users may have a similar question and would benefit from seeing the answer! You can use white rice (regular, softer or harder), jasmine white rice, mixed rice, sushi rice, porridge, sweet rice, brown rice, GABA brown rice and quick cooking.
I don't think there is a "best" as that is subjective to your diet and tastes, but all of the above are great options to use in your rice cooker!
Using the rice cup that comes with the Zojirushi, scoop out the amount of rice you want for the porridge. Rinse rice at least once, then add water to the level corresponding to how much rice you use, in the pot insert. Then select the porridge cooking method and press start. Be aware: 1 cup (Zojirushi cup) rice will make about 4-5 cups (actual) of porridge. It usually takes about an hour to make porridge but you don't have to watch it. Just set and forget until the little song beeps out :)
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I don't think there is a "best" as that is subjective to your diet and tastes, but all of the above are great options to use in your rice cooker!