Step 1: Combine the first 6 ingredients in a bowl. Place shrimp in a large bowl. Pour two-thirds of the oil mixture over the shrimp; toss to coat. Reserve the remaining oil mixture. Chill the shrimp mixture in the refrigerator for 2 hours.
Step 2: Cook the snap peas and asparagus in boiling water for 45 aeconds. Remove from the pan. Immediately plunge into a bowl of ice water. Drain well.
Step 3: Preheat the grill to medium-high.
Step 4: Remove the shrimp from the marinade. Discard the marinade. Thread about 5 shrimp onto each of 4 skewers. Place the skewers on a grill rack coated with cooking spray. Grill 3 minutes on each side or until the shrimp is done.
Step 5: Heat a cast-iron skillet over high heat. Add canola oil to the pan; swirl to coat. Add asparagus and peas; cook 3 minutes or until browned and lightly charred. Remove the pan from the heat. Add the reserved olive oil mixture to the asparagus mixture. Return the pan to high heat; cook 30 seconds or until the liquid almost evaporates. Sprinkle with salt and basil. Serve the asparagus mixture with the skewers.
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