
Mix the chipotle powder, cumin, brown sugar, lime zest, lime juice and cilantro in a bowl. Add the shrimp to the marinade and toss until coated, then let the shrimp marinate for 20 minutes.
Thread the shrimp onto metal skewers, or wood skewers that have been soaked in water for at least 10 minutes.
Heat grill to medium-high, then grill the shrimp until cooked (pink and opaque), about 1-2 minutes per side.