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Remove 1 teaspoon zest and squeeze ½ cup juice from the 2 oranges; set aside.
In a medium saucepan, bring the water, rice and ½ teaspoon of the salt to boiling; reduce heat. Simmer, covered, about 30 minutes or until water is absorbed. Remove from heat and let stand 5 minutes. Stir in ½ teaspoon of the orange zest and ¼ cup of the orange juice.
Meanwhile, rinse shrimp; pat dry. For marinade, in a medium bowl, combine oil, garlic, pepper, ½ teaspoon orange zest, ¼ cup orange juice and the remaining ¼ teaspoon salt. Add shrimp; toss to coat. Cover with foil or plastic wrap and marinate in the refrigerator 10 minutes.
Heat a large skillet over medium heat. Add shrimp mixture; cook and stir 5 minutes or until shrimp are opaque. Using a slotted spoon, remove shrimp from skillet. For sauce, bring marinade to simmering. Cook 1 to 2 minutes or until marinade is slightly thickened.
To serve, spoon warm rice and shrimp over arugula and drizzle with sauce. If desired, serve with orange wedges.