Preheat oven to 350°F. Spray two rimmed baking sheets with oil or line with parchment paper.
Combine beans, quinoa, zucchini, and pesto in a medium bowl. Use wooden spoon to smash beans a little bit. Fold in panko, cheese, and egg. Form mixture into 12 patties and place each one on first baking sheet.
Transfer tomatoes to second baking sheet. Spray with oil and season with salt and pepper. Place both baking sheets in oven and bake for 25–30 minutes, or until bean cakes are golden brown and tomatoes are just beginning to brown. Halfway through cooking time, stir tomatoes and flip over bean cakes.
Serve tomatoes over cakes and sprinkle with basil.