Combine brown sugar, cumin, salt, garlic powder, and red pepper; sprinkle over the shrimp inside a large Ziploc bag and let sit out at room temperature while you prep the sauce. Squeeze limes into a glass measuring cup and add orange juice and honey. Blend with whisk.
Heat vegetable oil in a large nonstick skillet over medium-high heat. add garlic to pan; sauté 30 seconds. Add shrimp and cook for 3-5 minutes or until done. Remove from pan; keep warm.
Add juices and honey to pan to deglaze; cook 3 minutes or until slightly thickened. Remove pan from heat; stir cilantro and mint into sauce. Pour sauce over shrimp and serve as-is for an appetizer, or over rice for an entree.