Preheat grill to medium-high heat.
Cut zucchinis in half lengthwise and scoop out centers, creating boat-like shells.
Season zucchini shells with salt, pepper, and brush lightly with olive oil.
In a bowl, mix together goat cheese, minced garlic, chopped basil, lemon zest, and red pepper flakes.
Fill each zucchini boat with the goat cheese mixture.
Grill zucchini boats for 10-12 minutes until tender and filling is warm.
Remove from grill and top with parmesan cheese and extra fresh basil.