Both massive multiple-input multiple-output (MIMO) and millimeter wave (mmWave) systems are receiving much attention for 5G and beyond-5G wireless access. When using a large antenna array, there are numerous challenges in designing low-power and cost-effective hardware. Most notably, the traditional approach of using high-resolution analog-to-digital converters (ADCs) at each element leads to both costly and high-power consumption devices. This has motivated research on multiple antenna arrays that use a low-resolution ADC at each element. We present a new framework for designing a multiple antenna array using a low-resolution ADC at each element, with the low-resolution ADC composed of simple shift and modulo analog processing and a sign quantizer. This modulo technique, called folding, has previously been utilized in the design of high-speed high-resolution ADCs. Using theory from folded ADCs, we show how to jointly design the modulo processing used across the elements. We show that our framework can provide substantial rate improvements including providing a linear growth in rate with the number of antennas at high SNR, as opposed to the logarithmic growth with the number of antennas provided by a sign-based low-resolution ADC array. We also explore how antenna ordering strategies can be used. We utilize Monte Carlo simulations to back our analysis.