Preheat oven to 350F and line a baking tray with parchment paper.
To prep the zucchini cups, cut the zucchini into 2 inch thick slices. Using a melon baller, scoop out a cup into each zucchini slice, leaving just about 1/4 inch of flesh on the sides and base. If the sides are too thin, the stuffing will leak.
Place the zucchini cups onto the prepared baking tray and spray with cooking oil. Sprinkle with salt and pepper, then bake for 15 minutes, to soften a bit.
Meanwhile, prepare the taco stuffing. Heat oil in a non-stick pan over medium heat. Sauté onion and garlic for 3-4 minutes, until just softened.
Add ground meat and cook, until well browned, 6-8 minutes. Stir in taco seasoning, beans, corn, tomato, and hot sauce, and cook for additional 4-5 minutes, stirring frequently.
Spoon the taco mixture into the zucchini cups, then sprinkle with cheese. Return to the oven and bake for 10-15 minutes more, until hot and melty.
Top with pico de gallo if you'd like and enjoy!