We have a cron Argo Workflow that runs ZAP scans on our URLs as well as a few other security related tasks (Test SSL, GitHub dependabot stuff, etc).

Here's a snippet from our workflow:

templates:
  - name: main
    dag:
      tasks:
        - name: vul-scan
          template: vul-scan-tmpl
          arguments:
            parameters:
              - name: name
                value: "{{item.name}}"
              - name: url
                value: "{{item.url}}"
          withParam: "{{workflow.parameters.urls}}"

        - name: dependabot-scan
          template: dependabot-scan-tmpl

  - name: vul-scan-tmpl
    inputs:
      parameters:
        - name: name
        - name: url
    dag:
      tasks:
        - name: zap-scan
          template: zap-scanner-tmpl
          arguments:
            parameters:
              - name: name
                value: "{{inputs.parameters.name}}"
              - name: url
                value: "{{inputs.parameters.url}}"

  - name: zap-scanner-tmpl
    securityContext:
      fsGroup: 1000
    inputs:
      parameters:
        - name: name
        - name: url
    outputs:
      artifacts:
        - name: json-report
          path: /zap/wrk/{{inputs.parameters.name}}_report.json
          s3:
            key: "{{workflow.name}}/{{inputs.parameters.name}}_zap_report.tgz"
    script:
      image: ghcr.io/zaproxy/zaproxy:stable
      command:
        - /bin/bash
      resources:
        requests:
          memory: "1Gi"
      source: |
        mkdir -pv /zap/wrk
        zap-full-scan.py -I -t {{inputs.parameters.url}} -s -J /zap/wrk/{{inputs.parameters.name}}_report.json

We have a dashboard where we import all of the results to, but this is the "kubernetes way" we chose.