Place bread slices on broiler pan or cookie sheet, broil until golden, turning once, about 2 the 3 minutes. Remove bread and rub each slice with garlic. Mince remaining garlic for the soup. Sprinkle each slice of bread with Parmesan, place back under broiler until cheese is bubbly and golden, about 1 to 2 minutes. Set aside.
To prepare the soup, heat olive oil in a large soup pot over medium high heat. Add onion and cook until tender, stirring often, about 10 minutes. Add carrots, celery, and remaining minced garlic. Cover and cook until carrots are almost tender, about 7 minutes more. Add zucchini, red pepper, and rosemary. Stir and cook until zucchini is tender, about 5 minutes more. Add the escarole, beans, tomatoes, and stock. Cook until escarole is just wilted, about five minutes. Taste and adjust seasonings.
Place 1 slice of cheese bread in the bottom of each soup bowl and cover with soup. Serve immediately.