Preheat your oven to 375°F (190°C).
Cut the zucchinis in half lengthwise and scoop out the insides to create boats.
In a skillet, heat olive oil and sauté the onion until translucent.
Add garlic and cook for another minute.
Stir in the cooked quinoa, mixed beans, diced tomatoes, cumin, and chili powder.
Season with salt and pepper; cook for 5 minutes.
Fill each zucchini boat with the quinoa mixture.
Place the boats on a baking sheet and drizzle with olive oil.
Bake in the preheated oven for 25-30 minutes until tender.
Garnish with fresh herbs before serving.