Prep the oven and pan: Preheat your oven to 400°F (200°C). Line a baking sheet or large casserole dish with parchment for easy cleanup.
Halve and hollow the zucchini: Trim the ends and slice each zucchini lengthwise.
Use a spoon to scoop out the center flesh, leaving about 1/4-inch walls. Reserve about 1/2 cup of the chopped zucchini flesh for the filling; discard the rest or save for another use.
Season the boats: Arrange zucchini cut-side up, drizzle with oil, and sprinkle with salt and pepper. Bake for 8–10 minutes to soften slightly.
Remove and set aside.
Brown the meat: Heat a large skillet over medium-high. Add the ground beef and cook, breaking it up, until no longer pink, about 5–6 minutes. Drain excess fat if needed, leaving a little for flavor.
Build the flavor base: Add onion, garlic, and the reserved chopped zucchini flesh to the skillet.
Sauté 2–3 minutes until fragrant and softened.
Spice it up: Stir in chili powder, cumin, smoked paprika, oregano, salt, and pepper. Cook 30 seconds to bloom the spices.
Simmer: Add tomato sauce, tomato paste, and water or broth. Stir and simmer 3–4 minutes until thick and juicy.
Taste and adjust seasoning.
Fill the boats: Spoon the taco mixture into each pre-baked zucchini boat, packing it in evenly.
Top with cheese: Sprinkle shredded cheese over each boat. Return to the oven and bake 8–10 minutes, until cheese is melted and the zucchini is tender but not mushy.
Finish and serve: Let cool 2–3 minutes. Add sour cream, avocado, cilantro, and onions on top.
Serve with lime wedges and optional jalapeños or hot sauce.