Heat the olive oil in a large pot over medium heat. Add the onion, carrots, and celery and cook for 5 minutes until the vegetables begin to soften.
Stir in the garlic, rosemary, and thyme and cook for 1 minute until fragrant.
Pour in the chicken broth and add the drained cannellini beans. Bring the mixture to a simmer.
Add the shredded rotisserie chicken and let everything simmer together for 10 minutes.
Stir in the chopped kale and cook for 3 to 4 minutes until the greens wilt. Season with salt and black pepper to taste.
Ladle the soup into bowls and top each serving with grated Parmesan cheese.