Start the millet first: place the dry millet in a small saucepan and swirl over medium-high heat. When the grain is hot and smells like popcorn, add the turmeric and salt, swirl to mix, then add the water. When it comes to a boil, cover tightly and reduce the heat to low. Cook for 25 minutes, until the water is all absorbed.
In a 4 quart pot, warm the olive oil over medium-high heat. Add the onion and stir, can cook until the onions start to sizzle. Reduce the heat to medium-low and stir, occasionally, for about 10 minutes.
When the onions are very soft, stir in the paprika, coriander and cayenne, and stir for a few seconds.
In a cup, whisk the peanut butter with about half a cup of stock, and when smooth, whisk in the remaining stock. Stir into the onions in the pot.
Stir in the tomatoes, then bring to a boil. Simmer for a few minutes, until slightly thickened, then add the kidney beans, kale and salt. Simmer until the kale is softened and deep green.
Serve peanut soup over the millet.