HEAT oil in medium skillet on medium-high heat. Add shrimp; cook 1 min. Stir in garlic and crushed pepper; cook and stir 1 to 2 min. or until shrimp turn pink. Transfer to bowl; cover to keep warm.

ADD all remaining ingredients except mangos to skillet; cook on low heat 3 to 4 min. or until peanut butter is melted and sauce is well blended, stirring frequently. (Do not bring to boil.)

STIR in shrimp and mangos; cook 2 to 3 min. or until heated through, stirring frequently.