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Slice zucchini in half lengthwise. Scoop out flesh with a small spoon, leaving a little more than ¼-inch thickness around edges. Roughly chop flesh; set aside. Place zucchini halves on a baking sheet.
Heat olive oil in a large skillet over medium-high heat. Add onion and cook until softened, then add ground beef and cook until well browned. Stir in tomato paste, garlic, sea salt, and pepper.
Preheat oven to 350 degrees.
Stir tomato sauce and zucchini flesh into skillet; then simmer 10 minutes, covered, on low heat. Remove lid, stir well and simmer another 5 minutes.
Spoon filling in prepared zucchini halves. Sprinkle with cheese and bake 20-25 minutes until bubbly.