Grilled Shrimp with Citrus Dipping Sauce

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1 cup rice, regular or instant, cooked according to package directions

Cooking spray

2 pounds large or jumbo shrimp, peeled and deveined

Salt and freshly ground black pepper

2 tablespoons freshly chopped cilantro leaves

1 cup orange juice

2 tablespoons fresh lime juice

2 teaspoons minced fresh ginger

2 teaspoons cornstarch

1/2 teaspoon garlic powder