Grilled Zucchini Rolls with Herbs and Cheese

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3 zucchini (about 1/2 pound each), sliced lengthwise into 1/4-inch slices

1 tablespoon olive oil

1/8 teaspoon salt

Pinch freshly ground black pepper

1 1/2 ounces reduced-fat soft goat's cheese

1 tablespoon freshly minced parsley leaves

1/2 teaspoon lemon juice

2 cups baby spinach leaves

1/3 cup basil leaves