Preheat oven to 400°F (200°C). Lightly oil a 9x13-inch baking dish or line a baking sheet.
Wash and dry zucchini. Slice each zucchini lengthwise. Use a spoon to scoop out the centers to form “boats,” leaving about a 1/4-inch shell. Chop the scooped zucchini flesh and set aside for the filling.
Arrange zucchini halves cut-side up in the baking dish. Drizzle with 1 tablespoon olive oil and season lightly with salt and pepper. Bake 10 minutes to soften slightly.
Meanwhile, heat remaining 1 tablespoon olive oil in a large skillet over medium heat. Add ground meat and cook until browned, breaking it up as it cooks, 6–8 minutes.
Add onion, bell pepper, mushrooms, carrot, and the chopped zucchini centers. Cook 4–6 minutes until vegetables soften. Stir in garlic and cook 30 seconds until fragrant.
Stir in marinara sauce and rosemary. Simmer 2–3 minutes. (Optional: stir in cooked quinoa for a heartier filling.) Taste and adjust salt and pepper.
Remove zucchini from the oven. Spoon filling evenly into each boat, mounding slightly. Sprinkle shredded cheese over the top.
Bake 15–20 minutes, until cheese is bubbling and lightly golden and zucchini is tender when pierced with a fork. If cheese browns too fast, cover loosely with foil for the first half of baking.
Let cool 5 minutes before serving so the filling sets slightly.