In a mixing bowl, combine tahini, minced garlic, lemon juice, and olive oil. Whisk until smooth, adding water gradually until desired consistency is reached. Season with salt and set aside.

Preheat the grill to medium-high heat (around 400°F).

Wash and slice zucchini into ½-inch thick rounds. Toss with olive oil, salt, and pepper until well coated.

Arrange zucchini slices on the grill and cook for 3-4 minutes per side until tender and golden brown.

Remove zucchini from the grill and drizzle with balsamic vinegar.

Drizzle golden tahini over the grilled zucchini and serve.