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Pat the shrimp dry with paper towels and season with ¼ teaspoon salt and ¼ teaspoon pepper.
In a small bowl, whisk broth, lemon juice, and cornstarch until smooth and set aside.
Heat 1 tablespoon oil in a large nonstick skillet over medium-high heat. Add shrimp, and cook for 1-2 minutes per side or until shrimp is pink and cooked through. Remove to a plate.
If needed, add another 1 tablespoon oil to the pan. Add onion, bell pepper, asparagus, zucchini, lemon zest, garlic, and season with remaining salt and pepper; cook, stirring occasionally, until just beginning to soften, 5-6 minutes.
Whisk chicken broth mixture one more time, and add to vegetables. Cook, stirring, until the sauce has thickened slightly. Add shrimp and parsley, stir to combine, and remove from the heat.
Serve with steamed rice and lemon wedges.