In a bowl, combine the shrimp with the olive oil and garlic and let marinate for at least 15-20 minutes.
In another bowl, mix the tomatoes, onion, jalapeño and cilantro, add olive oil, lemon juice, and salt and combine. Let marinate.
Preheat a grilling pan over medium-high heat.
Grill the shrimp 2.5 to 3 minutes per side until they look orange.
Scoop the flesh from the avocados and add it to the pico de gallo salad and combine.
Fill the avocado skin canoes with the pico de gallo and avocado salad and garnish with 2 shrimp.