Preheat your oven to 400°F (200°C). Line a rimmed baking sheet with aluminum foil for easy cleanup and to match the picture-perfect melted cheese and browned edges.
Wash the zucchini and pat them dry. Trim off the stem ends, then slice each zucchini in half lengthwise to make long boats.
Use a spoon to gently scoop out the soft center and seeds from each zucchini half, leaving about 1/4 inch of flesh all around so the shells hold their shape. Save a small handful of the firm bits you scoop out and finely chop them; you’ll mix them into the beef so nothing goes to waste.
Arrange the hollowed zucchini halves cut-side up on the foil-lined baking sheet. If they wobble, you can shave a very thin slice off the underside to help them sit flat.
In a mixing bowl, combine the ground beef, the finely chopped zucchini you reserved, and 1/2 cup of the tomato sauce. Season lightly with salt and pepper if you like, but it’s not required for the basic 4-ingredient version. Use a fork or your hands to mix just until everything is evenly combined; don’t overwork the meat.
Ground beef filling being mixed in a bowl
Spoon the beef mixture into each zucchini boat, pressing it in gently and mounding it slightly. Divide the filling as evenly as you can among all the halves so they cook at the same rate.
Spoon the remaining 1 cup of tomato sauce over the tops of the beef-filled zucchini, letting it drip down the sides a bit. This keeps the meat moist and gives you that saucy, casserole-style finish.
Cover the baking sheet loosely with a sheet of foil, tenting it slightly so it doesn’t stick to the filling. Bake in the preheated oven for 20 minutes to let the beef start to cook through and the zucchini begin to soften.
Carefully remove the top foil and sprinkle the shredded mozzarella cheese evenly over all the zucchini boats, covering the beef and sauce. Return the pan to the oven, uncovered.
Stuffed zucchini boats topped with sauce and cheese before baking
Bake for another 10–15 minutes, or until the cheese is melted and bubbling, the beef is cooked through (no pink in the center), and the zucchini is tender when pierced with the tip of a knife. If you like a little browning on the cheese, you can move the pan under the broiler for 1–2 minutes at the end, watching very closely.
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