In a medium bowl, combine shrimp with lemon juice, salt, and pepper. Mix well and allow to marinate for 15 minutes.

Preheat your grill to medium-high heat, around 400°F (200°C). Ensure grill grates are clean and lightly oiled.

Trim the asparagus and toss with olive oil, salt, and pepper. Grill for 4-5 minutes until tender-crisp.

Skewer the marinated shrimp and grill for 2-3 minutes on each side until pink and opaque.

Melt butter in a small saucepan, add minced garlic, and sauté until fragrant. Whisk in heavy cream and cook until slightly thickened, about 3-4 minutes.

Assemble bowls with rice or quinoa, top with grilled shrimp and asparagus, and drizzle creamy garlic sauce over.