Navigate to a module in your Canvas course:

Click the plus button and choose external tool:

Then, scroll to the very bottom of the list and choose "Zoom Meeting Basic":

Enter a page name and make sure the "load in a new tab" checkbox is selected. Then click the "Add Item" button.

That's it! You've successfully added a Zoom room to your course. Now, you and your students simply click on the link and it will launch you into your Zoom session.