Use a sharp knife to carefully cut each zucchini in half lengthwise, feeling the firm flesh give way under the blade. Place the halves on a cutting board.
Scoop out the insides of each zucchini half with a spoon, creating a hollow shell. Leave about a half-inch border to keep the structure intact, and set the flesh aside in a bowl.
In a small bowl, combine the zucchini flesh with minced garlic, chopped herbs, cheese, a drizzle of olive oil, and a squeeze of lemon juice. Season generously with salt and pepper, then mix until well combined.
Brush the outside of each zucchini boat lightly with olive oil to prevent sticking and help with crisping on the grill. Preheat your grill to medium-high heat.
Stuff each hollowed zucchini shell with the prepared mixture, pressing lightly to pack the filling in evenly.
Place the stuffed zucchini halves on the preheated grill, cut side up. Grill for about 3-4 minutes per side, turning carefully, until the zucchini skin is charred and the filling is bubbling and golden.
Remove the zucchini from the grill and let rest for a minute. The filling should be hot and slightly crispy on top, with the zucchini tender but still holding its shape.
Serve the zucchini boats warm, optionally garnished with extra herbs or a drizzle of olive oil for added flavor and presentation.
