Fill medium saucepan (that can be fitted with steamer basket) with 1 inch water. Place steamer basket in pan and put green and/or yellow wax beans in steamer. Bring water to a boil, cover and steam until tender, 4 to 5 minutes. Run beans under cold water; drain. Place in 2-quart mixing bowl and set aside.
In 1-quart saucepan, combine onion and vinegars. Cover and bring to a boil. Remove from heat; add olive oil, cover and let stand 10 to 15 minutes. Add mustard, parsley and garlic.
Add chickpeas and kidney beans to the green and/or yellow beans. Add seasoned onion mixture. Stir to coat. Add tofu and stir again. Arrange lettuce leaves on plate. Spoon bean and tofu mixture over lettuce.