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In a large bowl, whisk together hoisin sauce, honey, lemon juice, lemon zest, salt and pepper. Toss Shrimp in sauce and allow to marinate (in an airtight bowl, in the fridge) for 30 minutes, or up to 4 hours.
Thread shrimp onto skewers, piercing once near the tail and once near the head. Repeat until you're out of shrimp and sticks.
Heat grill, or grill pan, over medium-high heat. Lightly oil grill with non-stick spray.
Grill for 6 to 7 minutes, flipping half way through, until shrimp are cooked through. Top with freshly chopped cilantro and serve immediately.
Turn on the broiler to high. Grease a baking sheet so they won’t stick (or cover with non-stick aluminum foil for easy cleanup). Spread shrimp in an even layer.
Broil for about 4 minutes, flipping half way through, until shrimp are cooked through. Top with freshly chopped cilantro and serve immediately.
Preheat air fryer to 400°F. Add the shrimp skewers in an even layer in the air fryer basket. You may need to cook in batches depending on the size of your air fryer.
Cook for 6 minutes, flipping half way through, until shrimp are cooked through. Top with freshly chopped cilantro and serve immediately.