Bring a large pot of salted water to a boil. Add the pasta and cook until al dente (usually about 10 minutes). Once cooked, drain and return to the warm pot. Drizzle with some olive oil and keep warm.
In a large skillet, heat the 2 tablespoons of olive oil over medium heat. Add the minced garlic and fry for a few minutes until fragrant, being careful not to burn it. Add the zucchini and asparagus and sauté for about 4 minutes or until they start to soften. Add the lemon zest and mix well. Add the pasta and toss to combine. Season with salt and pepper to taste.
To serve, plate your pappardelle onto a serving platter or individual plates and sprinkle with goat cheese to finish.