It may be easier to fix the issues with the audio recorded with the Zoom. Care to elaborate on the issues with that audio?
Camera audio is going to have more issues than just background noise. As mentioned above iZotope RX4 Advanced is incredible. I also highly recommend Waves C4. It's labeled as a multi band compressor, but has a noise reduction preset and works similarly to Cedar DNS which is the post production industry standard tool for noise reduction.