Biomass-derived porous carbon has gained significant attention as a cost-effective and sustainable material in non-noble metal carbon-based electrocatalysts for the oxygen reduction reaction (ORR). However, during the preparation of transition metal catalysts based on biomass-derived porous carbon, the agglomeration of transition metal atoms often occurs, leading to a notable decline in catalytic activity. In this study, we present a straightforward synthetic approach for the preparation of nitrogen-enriched soybean-derived porous carbon (Co@SP-C-a) as an electrocatalyst for the ORR. To achieve this, we employed a two-step method. In the first step, a chemical activator (KCl) was utilized to enhance the porosity of the self-doped nitrogen biomass carbon material. In the second step, a constant pressure drop funnel technique was employed to uniformly disperse bimetal cobalt/zinc-based zeolitic imidazolium frameworks (ZIF-L and ZIF-67) containing different metal ions (Zn2+ and Co2+) into the activated biomass carbon material. Subsequent high-temperature calcination of the ZIF-L and ZIF-67@SP-C-a composite precursor yielded the Co@SP-C-a catalyst. The obtained catalyst exhibited remarkable ORR activity in an alkaline solution (Eonset = 0.89 V, E1/2 = 0.83 V, JL = −6.13 mA·cm−2) and exceptional long-term stability. This study presents an effective strategy to prevent the agglomeration of metal nanoparticles when integrating them with biomass-based carbon materials, thus leading to enhanced catalytic performance.