Kale and Quinoa Minestrone {Vegan and Gluten Free}

1 large yellow onion, diced (2 cups)
3 medium carrots, diced (1 1/2 cups)
2 stalks celery, diced (1 cup)
2 Tbsp olive oil
2 cups diced, fresh zucchini (from about 2 small)
2 cups green beans, cut into 1-inch segments
1 red bell pepper, diced
3 cloves garlic, minced
1 (32 oz) carton unsalted or low-sodium vegetable broth
1 (28 oz) can crushed tomatoes
3 cups water
3 1/2 Tbsp chopped fresh parsley
1 tsp dried rosemary, crushed
3/4 tsp dried thyme
1 1/2 tsp granulated sugar
Salt and freshly ground black pepper, to taste
3/4 cup dry quinoa
1 (15 oz) can cannellini beans, drained and rinsed
1 (15 oz) can chick peas, drained and rinsed (aka garbanzo beans)
2 (heaping) cups chopped fresh kale, thick ribs removed
1 Tbsp lemon juice
Shredded parmesan cheese, for garnish (omit or use vegan parmesan if making vegan)