In a bowl, toss the shrimp with salt, pepper, lemon zest, and half of the minced garlic. Set aside to marinate for 15 minutes.
In a large skillet or frypan, heat 2 tablespoons of olive oil over medium-high heat until shimmering.
Add the remaining minced garlic and red pepper flakes to the pan, cooking briefly until fragrant, about 30 seconds.
Add the asparagus and cherry tomatoes to the skillet. Sauté, stirring occasionally, for about 4-5 minutes or until the asparagus is tender and the tomatoes begin to soften.
Pour in the vegetable or chicken broth, scraping the bottom of the skillet to release any browned bits. Bring to a simmer.
Gently stir in the marinated shrimp, allowing them to cook for about 3-4 minutes until they turn pink and opaque.
Stir in the lemon juice, chopped parsley, and basil. Adjust seasoning with additional salt and pepper as needed.
Remove from heat, and serve the garlic herb shrimp over a bed of quinoa or rice, spooning the delicious pan sauce over the top.