Meanwhile, in a medium saucepan bring 1 can of the broth to boiling over medium-high heat. Add quinoa, olive oil, and garlic; reduce heat. Cover and simmer about 15 minutes or until liquid is absorbed and quinoa is tender. Remove from heat; let stand, covered, for 5 minutes.
Meanwhile, in a large saucepan bring the remaining 1 can broth and the kale to boiling over medium-high heat; reduce heat. Cover and simmer about 20 minutes or until kale is tender, stirring occasionally. Using a slotted spoon, transfer kale to a large serving bowl; stir in quinoa.
Thinly slice pork. Serve with quinoa mixture and, if desired, yogurt. If desired, garnish with parsley.