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1. Thaw shrimp, if frozen. Peel and devein shrimp, leaving tails intact (if desired). In a large saucepan, bring the water to boiling. Add shrimp. Cover and simmer for 1 to 3 minutes or until shrimp are opaque. Drain. Rinse shrimp with cold water; drain.
2. Place shrimp in a resealable plastic bag set in a shallow bowl. Add the orange peel, orange juice, vinegar, oil, ginger, salt, cayenne pepper, and garlic to bag. Seal bag; turn to coat shrimp. Marinate in the refrigerator for 1 to 2 hours.
3. Place pea pods in a steamer basket over boiling water. Cover and steam for 2 to 3 minutes or just until tender. Rinse with cold water; drain.
4. Drain shrimp, discarding marinade. Wrap each shrimp with a pea pod. On each of eight 6-inch skewers, thread two wrapped shrimp and one mandarin orange section. If desired, serve with soy sauce.