Prep the oven and pan: Preheat your oven to 400°F (200°C). Lightly oil a large baking dish or sheet pan.
Prepare the zucchini boats: Trim the stem ends and slice each zucchini lengthwise. Use a spoon to scoop out the centers, leaving about 1/4 inch of flesh to form a “boat.” Reserve some of the scooped zucchini if you’d like to add it to the filling.
Season the zucchini: Brush the cut sides with a little olive oil and sprinkle with salt and pepper.
Arrange them cut-side up in the baking dish.
Par-bake the zucchini: Bake for 8 to 10 minutes to soften slightly. This prevents soggy boats later and shortens the final bake time.
Cook the beef: While the zucchini bakes, heat a skillet over medium-high. Add a drizzle of oil, then the diced onion.
Cook 2 to 3 minutes until softened. Add the ground beef and cook, breaking it up, until browned and cooked through. Drain excess fat if needed.
Season the filling: Stir in minced garlic and cook 30 seconds.
Add taco seasoning, tomato paste, and broth (or salsa). If using, add chopped reserved zucchini, corn, and black beans. Simmer 2 to 3 minutes until thick and saucy.
Taste and adjust salt.
Fill the boats: Spoon the taco beef mixture evenly into each zucchini half. Press the filling in a bit so it’s snug.
Add cheese: Sprinkle shredded cheese generously over the tops. Aim for even coverage so every bite is melty.
Bake to finish: Return to the oven for 8 to 12 minutes, until the zucchini is tender and the cheese is melted and bubbly.
If you like golden spots, broil for 1 to 2 minutes at the end.
Top and serve: Let rest 5 minutes. Garnish with cilantro, tomatoes, jalapeños, avocado, and a squeeze of lime. Add sour cream or hot sauce if you like a creamy or spicy finish.