1. Pat the shrimp dry with paper towels. To make the marinade, juice the lemon and orange and whisk together with the olive oil. Finely chop the garlic and rosemary and add to the marinade along with salt (in moderation) and pepper. Toss the shrimp with the marinade and chill, covered, 30 minutes.
2. Heat a gas or charcoal grill to medium heat. Remove the shrimp from the marinade and grill for about 5 minutes or until just cooked, turning once. Arrange on a platter and serve immediately.
Per serving: 176 calories, 12g fat, 2g saturated fat, 107mg cholesterol, 483mg sodium, 7g carbohydrate, 2g fiber, 0g sugar, 12g protein