Preheat an outdoor grill or grill pan to medium-high. Toss the shrimp with the lemon juice; season with salt and pepper. Place one sage leaf in each shrimp cavity, where it was deveined, then wrap a slice of pancetta around the shrimp; secure with a toothpick. Drizzle with some olive oil and set aside.
Bring a large pot of water to a boil, and cook the penne according to package directions. Drain.
While pasta cooks, in a food processor pulse the 2 whole garlic cloves, lemon peel, basil, mint, parsley, tarragon, and pine nuts. Pour in the 1/2 cup olive oil in a steady stream.
Transfer the food processor mixture to a serving dish; stir in the cheese. Season to taste with salt and pepper. Add peas and pasta and toss to combine.
Grill the shrimp until pink, about 4 minutes on each side. Serve 2 shrimp on each plate with some pesto penne.