Heat olive oil in a large Dutch oven over medium heat.
Add onion, carrots, and celery; sauté for 8 to 10 minutes until vegetables are softened.
Stir in garlic, rosemary, and thyme; cook for 1 minute until fragrant.
Add the cannellini beans, diced tomatoes with juices, and vegetable broth.
Bring the mixture to a boil, then reduce heat and simmer for 20 minutes.
Remove the rosemary and thyme sprigs from the pot.
Add the chopped kale and simmer for another 5 to 10 minutes until the kale is tender.
Stir in lemon juice, salt, and pepper to taste.
Serve hot, topped with freshly grated Parmesan cheese.