Starring on the cover of People the actor said "we had a short time with a true angel."
"My heart is shattered. I wish I could have done more, spent more time with him, taken more pictures. I wish I could have hugged him longer."
Zen – who was born in June this year was diagnosed with a rare and aggressive form of brain cancer known as a high-grade glioma in August and after doctors did all they could, Cannon and Scott made the decision to give their child the best life they could, no matter how long or short that may have been.
Cannon first broke the sad news of Zen's passing on his talk show where he recounted the difficult moments throughout his son's health battle.
"Over the weekend I lost my youngest son to a condition called hydrocephalus that is pretty much a malignant, midline brain tumour - brain cancer," he said.
But thankfully Cannon and Scott got to spend their last day with Zen at the beach "I was like, "We have to watch the sunrise and just be there with him one last time,"'
"It was beautiful."
Zen passed away on December 5 with both of his parents by his side.
"I see it as a blessing that I got to be there,' Cannon told People. "Alyssa says, 'I think he was just waiting for you.'"