Use a small spoon to lightly scoop our the seeds in the middle of the zucchini. Don't dig all of the zucchini out, just take enough out so you can fill the zucchini.
Preheat a grill or grill pan to medium-high heat.
Drizzle the zucchini with olive oil on both sides. Rub the olive oil over the zucchini so it is well coated. Season with salt and black pepper.
Place the zucchini on the hot grill and grill for about 3 minutes on each side or until zucchini is soft and has grill marks. You don't want the zucchini to get too done or it will get mushy and not hold the quinoa. It should still be firm.
Remove the zucchini from the grill and set aside.
In a medium bowl, combine cooked quinoa, chickpeas, tomatoes, basil vinaigrette, lemon juice, and feta cheese. Season with salt and pepper, to taste.
Spoon the quinoa filling into the grilled zucchini boats. Garnish with a drizzle of basil vinaigrette, basil, and additional feta cheese. Serve immediately.