how can we "quantify" the amount of a given molecule (e.g. surfactants) adsorbed on a surface (e.g. graphene) in an aqueous medium? I mean by which techniques?
Zeta potential has nothing to do with the amount of surfactants. When you determined adsorption, you determined the amount of surfactant. If not determined, then you need to separate the nanoparticles with adsorbed surfactants. Dry them, wash off the surfactant with ethyl alcohol and determine the surfactant content by known methods: weight, titration ...