Rust specifically because it has the zero-overhead safety properties via the borrow checker. This is something that no other safe language has, as far as I know. They generally either make you deal with a GC if you want safety, or deal with raw pointers and manual memory management if you want low overhead.

And the borrow checker, along with move semantics by default and the Send and Sync traits, help with several other aspects of safety as well; the Send and Sync traits encode information on what can safely be moved or shared between threads, and move semantics by default (and checked by the compiler, instead of at runtime as in C++), make it easier to encode state transitions on objects in ways that you can't try to perform operations on an invalid state.

But as others point out, Zircon, the Fuchsia kernel, was written before Rust 1.0 was released, and even after Rust 1.0 was released and stable it was still a bit rough to work with for a little while.

If you were starting a new project from scratch today, I'd seriously ask why not Rust, though of course there are other reasons why you might not choose it. But given the history, and how new Rust was at the time when this project was started, it makes a lot of sense.