In saucepan, place sorghum and 3 cups (750 mL) water. Bring to a boil, reduce heat to medium-low, and simmer, covered, until sorghum is tender but not mushy, about 25 minutes if soaked or 40 minutes if using unsoaked grains. Drain sorghum and let cool.
In saucepan of salted boiling water, prepare edamame according to package directions. Drain edamame and let cool.
In bowl, whisk together peanut butter, lime juice, soy sauce or tamari, rice vinegar, honey, sesame oil, ginger, chili sauce, and 2 Tbsp (30 mL) warm water until smooth.
In large bowl, place kale then drizzle on half of the peanut dressing. Using clean hands, massage dressing into kale until leaves are tender, about 1 minute. Add sorghum, edamame, carrots, red bell pepper, mango, green onion, and basil to bowl and gently toss. Just before serving, pour remaining peanut dressing overtop and sprinkle on peanuts.