In large bowl, combine shrimp with garlic, jalapeno, milk, ginger dressing, lime zest and cilantro. Marinate for at least one hour.
During marinating time, soak wooden skewers in water for 30 minutes. When shrimp is done marinating, thread 3 shrimp per skewers. Save marinade and place in a pot over stove or grill. Bring up to simmer, then set aside.
Place skewers medium-high grill, for 2-3 minutes per side. Remove from grill and place on platter. Drizzle cooked marinade over the shrimp and top with sliced green onions and serve.