In this paper, we propose a virtual full-duplex (VFD) technique with zero-interval modulation and sampling (ZIMS), where two half-duplex (HD) transceivers can simultaneously transmit signals and each transceiver can effectively receive the desired information. In ZIMS-VFD, the transceiver inserts a zero-interval for each symbol in the transmit signal and provides self-interference (SI)-free intervals for itself. Meanwhile, it samples the receive signal in the provided SI-free intervals and restores the desired symbols. Based on orthogonal frequency division multiplexing (OFDM), we formulate the system model and show the transmit signal structure. Then, we give the transceiver design for single input single output (SISO) ZIMS-VFD and extend it to multiple input multiple output (MIMO) communications. Numerical results verify our theoretical analyses and show that ZIMS-VFD can effectively increase the capacity and approach the FD without SI.