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There are two ways to add a Zoom meeting to a Calendar event.
Create Meeting within Google Calendar
You may want to schedule your Zoom meeting and Calendar event at the same time by using Google Calendar. This video describes how you can do just that. Participants will be able to attend by clicking that link in their calendar event.
Adding a meeting to Google Calendar that's already created
Other times, you may need to first create a Zoom meeting to configure the meeting before adding it to a Google Calendar event or emailing it out.
To schedule a Zoom meeting, just follow the prompts on Zoom's website:
After your meeting is scheduled, you can click the name of the meeting to see the details; note the invite link that is provided. You can copy this link and paste it into an email or a calendar event so that your participants can join. Zoom has additional information in their "Scheduling meetings" article.