Bring a large pot of generously salted water to a boil.
While the water heats, warm the olive oil in a small saucepan over medium heat; add the smashed garlic and crushed red pepper flakes and cook until the garlic is lightly golden, about 5 minutes, reducing heat to medium-low if it sizzles too vigorously.
Transfer the garlic and oil to a blender and set aside.
Add the kale to the boiling water and cook until just tender, about 5 minutes; using tongs, transfer the kale (it can be wet) to the blender.
Add the rigatoni to the same boiling water and cook until al dente according to package instructions; reserve 1 cup of the pasta cooking water, then drain the pasta and return it to the pot.
Add a splash of the reserved pasta water to the blender with the lemon zest and lemon juice, then blend until smooth; season the sauce with salt, pepper, and more lemon juice to taste.
Pour the kale sauce over the rigatoni in the pot, add the grated Parmesan, and toss to combine; add additional reserved pasta water a little at a time until the sauce is creamy and coats the pasta.
Divide the pasta among 4 bowls and finish with extra Parmesan and freshly ground black pepper to serve.