Preheat the oven to 450 degrees F (230 degrees C). Coat a baking sheet with cooking spray.

Scoop out seeds from zucchini halves with a spoon; season cut sides with 1/2 teaspoon salt and 1/2 teaspoon black pepper.

Combine ricotta, mozzarella, Parmesan, basil, lemon juice, and remaining 1/2 teaspoon each salt and black pepper in a bowl; divide among zucchini halves. Place stuffed zucchini on the prepared baking sheet.

Bake in the preheated oven until zucchini are tender and filling beginning to brown, 15 to 20 minutes.