Mix marmalade, garlic and pepper flakes in small bowl. Remove 1/2 cup for shrimp. To remaining mixture, add juice, oil and vinegar for dressing for couscous.
Evenly divide shrimp onto six 10- to 12-inch-long skewers. Brush reserved marmalade mixture onto both sides of shrimp. Grill 3 minutes on each side, basting as necessary.
Meanwhile, bring chicken broth to boiling in saucepan. Add asparagus; cook 3 minutes. Stir in couscous; cover and remove from heat. Let stand 5 minutes.
Stir orange-marmalade dressing into couscous. Serve shrimp on top. Makes 6 servings.