Heat the olive oil in a large pot over medium heat. Add the onion, carrots, and garlic. Cook for 5 minutes until the vegetables soften.
Add the chicken pieces to the pot. Cook for 6 to 7 minutes, stirring often, until the chicken is no longer pink on the outside.
Stir in the cannellini beans, chicken broth, and rosemary. Bring the mixture to a simmer. Season with salt and black pepper.
Add the chopped kale. Simmer for 8 to 10 minutes until the kale wilts and the chicken cooks through.
Ladle the soup into bowls. Top each serving with grated parmesan and a squeeze of lemon.