In a large pot, heat the oil over medium heat. Add the onion and garlic and sauté for about 5 minutes or until the onions look translucent.
Add the bell pepper, zucchini, carrots, jalapeno (if using), sweet potato, and tomatoes with their juices. Raise the heat to medium-high and simmer for 5 minutes more. Season the vegetables with salt and black pepper.
In a medium bowl, whisk together the peanut butter and 1 cup of the vegetable broth until there are no clumps. Stir the mixture into the vegetables, along with the rest of the vegetable broth, chili powder, and cayenne pepper.
Cover the pot with a lid and reduce the heat to medium-low. Simmer for 15-20 minutes or until the sweet potatoes are fork tender.
Stir in the quinoa, chickpeas, and kale and cook until the kale is wilted. Season with salt and black pepper to taste.
Ladle the soup into bowls and garnish with cilantro and roasted peanuts. ENJOY!