Place the wire rack with the shrimp on the grill and cook for 10 to 15 minutes until the shrimp are cooked through, flipping once halfway through and rotating the shrimp if needed to avoid hot spots on the grill.
Remove the shrimp from the grill, carefully remove the toothpicks, and transfer to a serving platter.
Serve the shrimp warm topped with mango salsa and fresh cilantro.