Step 1

Set up your grill for indirect heat. If using a charcoal grill, build the coals on one side only. If using a gas grill, heat one side only.

Step 2

Cut the tops off of each tomato and scoop out the inside flesh into a bowl. Set aside the tomato shells. Roughly chop the inside tomato flesh or break it up with your hands, yielding 1 cup. Drizzle with olive oil and season with salt and pepper.

Step 3

Place a large saute pan over the direct heat side of the grill and add a drizzle of olive oil. Season the ground beef with salt and pepper. When the oil is hot, add the ground beef and cook until it begins to brown, breaking it up into smaller pieces as it cooks, 3 to 4 minutes. Add the garlic, onions, lemon zest, another drizzle of olive oil and a pinch of salt. Give it a stir and cook until fragrant and the onions are translucent, 2 to 3 minutes. Then stir in the reserved tomato insides. Cook for about 1 minute, scraping the bottom of the pan for any brown bits. Add the mint and parsley. Give it one more stir and remove from the heat. Add the rice, pine nuts and goat cheese.

Step 4

Fill each reserved tomato shell to the top with the beef mixture and place into a cast-iron skillet. Sprinkle with the panko and drizzle with olive oil. Place on the indirect heat side of the grill and close the lid. Bake until golden brown on top, 20 to 25 minutes. Serve with olive oil drizzled over the top.