This is currently only possible if you have Simulive on your account (requires Zoom Events or Sessions license) and a bit of luck:

More info on Simulive requirements:
https://support.zoom.com/hc/en/article?id=zm_kb&sysparm_article=KB0068467
IMO, this is one of the most useful developments in the past year from Zoom, but it is definitely hidden well and not advertised. Given that the recording layouts and editing options are so comically limited within Zoom, it's great to be able to post-produce in an NLE and upload a proper video file to the cloud.