In a large pot, saute the onion in olive oil until translucent.
Once the onions are soft, add the garlic and ginger and add the rest of the vegetables (except for the greens) one at a time.
Keep stirring to prevent charring and add a little broth if necessary to keep it moist.
As the vegetables begin to soften, add the liquid and bring to a boil. Turn the heat down to low and add all remaining ingredients except the miso, kale, and noodles.
Cover and simmer on low for 10-15 minutes, or until the carrots are soft. Turn off the heat and add the tofu and the greens, stirring until the greens wilt.
In a separate bowl, mix the miso paste with enough broth to dissolve, then add back into the pot.
Add 1 tablespoon of toasted sesame oil.
Remove from heat and add the cooked noodles (optional).
Add soy sauce to taste and garnish with sliced scallions.