In a small bowl, whisk together the mustard, honey, lemon juice and garlic.
Peel and devein shrimp, leaving tails intact. Skewer onto metal skewers or if using wood skewers, soak the skewers in advance in water for 30 minutes. Preheat grill to 350 degrees. Salt and pepper shrimp. Place shrimp on hot grill and brush generously with glaze. Cook two minutes. Turn and cook the other side of the shrimp for two more minutes. Again, slathering with the glaze.
Shrimp are more easily managed if you use two wooden skewer sticks per line of shrimp. About 6 shrimp per double skewer. They turn easier.