In a small bowl, mix together garlic, lemon juice, lemon zest, and olive oil; set aside.
Season tilapia with salt and pepper and place in baking dish. Brush the tilapia with half of the garlic and lemon mixture. Flip the tilapia and repeat with remaining garlic and lemon mixture.
Place into oven and bake for about 14-18 mins. Fish should flake easily with a fork.