Preheat grill to medium-high.
Combine cilantro, parsley, garlic, lime juice, oil, ¼ tsp. salt, and pepper in a mini food processor. Process until the herbs are finely chopped. Reserve ¼ cup of the salsa. Transfer the rest to a medium bowl and add beans, tomatoes, and cucumber; stir to combine.
Thread shrimp onto four 12-inch metal or bamboo skewers and sprinkle with the remaining ¼ tsp. salt. Grill the shrimp, turning once, until they turn pink and opaque, 2 to 3 minutes per side.
Serve the shrimp over the vegetable mixture, drizzled with the reserved salsa. Garnish with additional cilantro, if desired.
