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In a small bowl, add the balsamic vinegar, honey. Whisk together. Slowly whisk in olive oil until combined well. Season with salt and pepper. You can also combine ingredients in a small jar and shake well. Set vinaigrette aside.
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In a medium bowl, combine oil, garlic, salt and pepper. Mix well until combined.
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Add shrimp and gently coat them with the mixture and set aside.
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Lightly oil a grill pan and preheat over medium-high heat.
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Grill shrimp for 2 - 3 minutes each side until opaque. Remove shrimp from pan and let cool slightly.
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Set aside 4 whole grilled shrimp to place on top of salad. Dice remaining shrimp into small bite-sized pieces. Set aside.
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In a large bowl, combine the arugula, parsley, cucumbers tomatoes and avocado. Gently toss.
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Pour the desired amount of vinaigrette over salad and toss until evenly coated. Add in the chopped grilled shrimp and gently toss again.