In a medium skillet over low heat, cook the sliced garlic in the olive oil till soft. Let cool, then mix in the other ingredients. On a wooden skewer place 4 or 5 shrimp, depending on size. Place in a long casserole and pour the marinade over. Marinate for at least two hours or up to 6 hours in the refrigerator, turning occasionally.
Mix all the ingredients for the Mango Salsa together in a glass bowl. Let sit about 30 minutes in the refrigerator.
Preheat a broiler or grill to high heat. Grill the skewers about 3 minutes per side. Serve on a bed of the Mango Salsa.