In a medium bowl, whisk together the olive oil, honey, freshly minced garlic, soy sauce, salt, black pepper, red pepper flakes, lemon zest, lime zest, and paprika until fully combined. The honey will take a moment to fully incorporate into the oil—keep whisking until you have a smooth, emulsified marinade with no visible honey streaks. This creates the flavor base that will coat and infuse the shrimp.
Add the peeled and deveined shrimp to the marinade bowl and toss gently to coat each piece evenly. Let sit for 30 minutes at room temperature—this allows the flavors to penetrate the delicate shrimp meat without cooking it. While the shrimp marinates, prepare your grill and thread the shrimp onto skewers (soak wooden skewers in water for 15 minutes first if using them, or use metal skewers). I like to leave shrimp tails on as they add visual appeal and stay juicy when grilled.
Heat your grill to 275-325°F (medium to medium-low heat)—this moderate temperature prevents the honey from burning while allowing the shrimp to cook through gently. Once preheated, oil the grill grates generously with a high-heat oil to prevent sticking. Thread the marinated shrimp onto skewers, spacing them so they cook evenly and don't crowd together on the grill.
Place the shrimp skewers directly on the oiled grates, close the lid, and cook for 2-3 minutes on the first side without moving them—this develops a light char and caramelizes the honey marinade slightly. Flip the skewers and cook for another 2-3 minutes on the second side until the shrimp are opaque throughout and just cooked (overcooked shrimp becomes rubbery, so watch carefully). The total cooking time should be 4-6 minutes depending on shrimp size. Remove from the grill and transfer to a serving platter.
Immediately brush the hot grilled shrimp with softened butter—the residual heat will melt it into a glossy glaze that enriches the honey garlic flavors. Sprinkle the finely chopped cilantro over the shrimp for a fresh, herbaceous finish and bright color contrast. Arrange lemon and lime wedges alongside the shrimp so guests can squeeze fresh citrus juice over their portions for added brightness and acidity to balance the rich honey and garlic.