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In a glass measuring cup, squeeze limes, yielding 1/4 cup of juice.
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Add the garlic, pepper, olive oil, and cilantro and stir.
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Peel the shrimp and place them in a medium bowl and pour the cilantro lime marinade over the shrimp.
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Let the shrimp marinate for 10 to 15 minutes in the refrigerator (do not let them marinate for more than 30 minutes as the acid of the juice will alter the texture of the shrimp).
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While waiting cut up the vegetables.
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When done alternate the veggies with the shrimp.
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Then grill for 3-4 minutes on each side.
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Brush them with the mixture while cooking.