Slice your zucchini on a diagonal approx 1/4" thick and place in a large bowl.
In a small bowl, add all remaining ingredients and mix to combine. Then pour the mixture over your zucchini slices and mix well to ensure each slice is coated.
Heat your non stick grill or panini press over high heat and place the zucchini slices in a single layer. Close the lid and cook for 3-5 minutes until cooked through and grill lines are formed. (If you do not have a grill with a lid, flip your zucchini after 3-5 minutes to cook the other side.)
Transfer your cooked zucchini slices to a serving dish and spoon any leftover lemon herb glaze over top. Enjoy!