Place orange juice, honey, lime juice, mustard and dry seasonings in a blender and blend on high for 1 minute until smooth. Pour into a saucepan and simmer over medium heat for 12 minutes or until thickened and reduced by half. Divide the glaze into 2 plastic containers, seal tightly and refrigerate until ready to use.
Double thread 5 shrimp onto 2 parallel skewers. Cook shrimp over hot coals for about 3 minutes on each side or until completely pink, basting with one container of the glaze during grilling. Remove from grill and baste with remaining glaze.
