Preheat waffle maker to high - 400ºF.
Grate the zucchini on the large holes of a box grater. Wrap in several layers of paper towel to squeeze out some of the moisture. Set aside.
In a mixing bowl, combine flour, baking powder, salt, pepper.
In another bowl whisk together milk and eggs. Stir in garlic and basil.
Add the dry ingredients and beat until smooth. Mix in zucchini and cheddar cheese.
Spray top and bottom of waffle iron with cooking spray. Spread 1/4 of batter evenly over the bottom and close top. Cook for 2-4 minutes or until golden brown. Repeat with remaining batter.
Serve hot with Lemon Dijon Sauce.