In food processor, mince garlic. Add peanut butter, soy sauce, sesame oil, rice vinegar, gingerroot and honey, and process until smooth.
Thread shrimp loosely onto bamboo skewers, 3 to 4 shrimp per skewer, leaving space at each end. Brush sauce over shrimp, covering both sides. Cover and refrigerate for a minimum of 20 minutes or for up to 1 hour.
Spray both sides of contact grill with vegetable cooking spray or oil. Place shrimp skewers on grill, close lid and grill for 2 minutes, or until shrimp are pink and opaque.
Use natural smooth peanut butter for best results. If using processed peanut butter, reduce the amount of honey by half.
If your contact grill has more than one temperature setting, set it to medium-high for this recipe.