To prepare marinade: In a small bowl, use a whisk to combine the honey, cilantro, ginger, lemon zest, orange juice and olive oil. Taste and adjust seasoning with salt and pepper; set aside.

To cook shrimp: Prepare a medium-high charcoal fire, preheat a gas grill to medium-high or heat a large grill pan over medium-high heat. Brush the pan with a thin coating of oil using a silicone pastry brush.

Season the shrimp with salt and pepper, carefully place them on the grill, and sear on both sides. Turn once with tongs or a fish spatula, until no longer pink, about 3 to 4 minutes per side, depending on size of shrimp. (You could also thread the shrimp onto large skewers and grill them on the skewers, sliding them off into a bowl once cooked)

Transfer the cooked shrimp to a medium bowl, toss with marinade. Taste and adjust seasoning with salt and pepper.

To serve: Transfer the cooked shrimp to warmed plates and serve immediately.