Carefully pick through kidney beans and chickpeas to remove any small stones or debris and rinse well.

Transfer to a large bowl, cover by 3 inches with water, cover and set aside at room temperature for 8 hours or overnight; drain and rinse well.

Heat oil in a large pot over medium high heat.

Add onion, carrot and celery and cook until onion is translucent, about 5 minutes.

Add garlic and parsnips, cook 2 minutes more, then stir in chile powder and cook for 1 minute.

Stir in broth, beans and chickpeas and bring to a boil.

Reduce heat, cover and simmer for 1 hour. (Check about half way through and add enough water just to cover, if necessary.)

Add kale, corn, fingerling potatoes, tomatoes, sweet potatoes, broccoli, 1/4 teaspoon salt and pepper and bring to a boil.

Cover and simmer until beans and vegetables are tender, about 1 hour more.

Meanwhile, rinse millet in running water for about 1 minute; drain well and transfer to a medium pot.

Cook over medium heat, stirring frequently, until millet is dry and fragrant, but not browned, about 5 minutes; transfer to a bowl and return pot to the heat.

Add 3 cups water and bring to a boil.

Add millet and remaining 1/4 teaspoon salt, return to a boil then cover and simmer until liquid is absorbed, 20 to 30 minutes.

Set aside off of the heat for a few minutes, then uncover and fluff with a fork.

Spoon stewed vegetables over millet and garnish with green onions.