It's totally possible! But don't expect it to happen overnight. What worked for me was focusing on nutrients and getting enough fruits and vegetables. It's been a slow process of learning how to cook things that are nutritious in a way that I like (I finally found a yummy way to cook eggs, YES) and every week I try to do a few new recipes. The more nutrients I get the more full I feel and the fewer calories I eat, and then there's extra room for a sweet or something each day. Counting calories actually does work for me; I tend to way OVERestimate the amount I eat (weird, I know), so when I count them I know I have extra space to play with. Plus, when you're eating really good nutritious food, your body feels good, and that's a very addictive feeling. I've grown to hate eating stuff that I know will leave me feeling yucky the next day.
What I've found and have heard others say too is that the more changes you make the more your taste buds change. Like, if you love ice cream (like me), try making ice cream with frozen blended bananas instead. It doesn't take long for your taste buds to read regular ice cream as too rich in large quantities.
Oh, and you don't have to eat beans, quinoa, and veggies every meal.
I tried taking out my frosted mini wheats for breakfasts, thinking eggs would be better, and realized that I had a very difficult time getting enough of certain nutrients. Taking out grains makes it hard to get some of them; there's plenty of room for good bread or cereal or what-have-you! It just comes more into balance is all. The trick is finding a menu that both gives you what you need and satisfies you so that you can sustain it long-term. It's important to enjoy what you eat!