Without being familiar with the KM34 in question, I will just state that by definition a differential input to an ADC is 'oblivious' to the common-mode voltage on the signal pair -- this is 'subtracted' directly by a front-end differential amplifier -- so in your case, put your positive signal on the '+' input, and put VCC-to-the-module/2 to the '-' input to properly subtract the chip's DC offset. What you DO need to know in that regard is the allowed signal-range for said diff-amp. If the inputs are 'fully operational' over the 2 to 3V range, then you will properly net +/-400mV into the ADC directly from your sensor.
Some further investigation into the matter indicates you are looking at the sigma-delta ADC, and the common-mode voltage spec there is 0 to 0.8V -- so too low for my 'direct connection' assumption (which was more based on the differential functions available in some other Kinetis parts to the SAR ADC).