Preheat the oven to 350°F and line a large rimmed cooking sheet with parchment paper.
Cut the stems off of the zucchinis and slice each zucchini lengthwise.
Use a spoon or melon baller to scoop out the center of each zucchini. Chop half of the scooped out center portions and set aside for later.
Place the hollowed zucchini onto the pan facing upwards and drizzle with 1 tablespoon oil and sprinkle with a pinch of salt. Bake for 15 minutes.
Meanwhile, in a large skillet with high sides, add 1 tablespoon of oil.
Add the onion and pepper and saute on medium heat for 5 minutes.
Add the garlic and cook for 1 more minute.
Mix in the ground turkey and break up into small pieces. Add the black beans, chopped zucchini (set aside from earlier), salt, chili powder, paprika, garlic powder, and pepper. Cook on medium-high for 6-8 minutes, mixing often until mostly cooked.
Turn off the heat and mix in the yogurt.
Spoon the turkey mixture into the center of each partially cooked zucchini half.
Sprinkle each filled zucchini with shredded cheese.
Bake at 375°F for 20 minutes. Increase the temperature to 400°F and bake for another 5-7 minutes to get the cheese extra bubbly.
While the zucchini cooks, mix together the sauce ingredients: yogurt, chili powder, paprika, lime juice and salt.
When the zucchini comes out of the oven, top with sliced avocado, a drizzle of the sauce and fresh cilantro.