Preheat oven to 400 F.
Cook lentils and quinoa each according to package directions.
Slice zucchini in half lengthwise, then scoop out flesh. Place on a parchment-lined baking sheet, then season with salt and pepper. Bake for 8 min until zucchini is just tender.
Meanwhile, heat olive oil in a large frying pan on med-high heat. Add all filling ingredients except for cheese and cilantro. Saute for 5-6 min, then remove from heat, stirring in cheese and cilantro.
Remove zucchini from oven and stuff with filling, then sprinkle with remaining 2 tbsp cheese. Bake for another 2 min until cheese is melted.
Remove from oven, then cut each zucchini boat into four different pieces.
Serve immediately and enjoy!