Stir picante sauce, tomato sauce, sugar and lemon juice in large bowl. Add shrimp and toss to coat. Thread shrimp on 12 skewers.
Lightly oil the grill rack and heat grill to medium. Grill the shrimp for 10 minutes or until cooked through, turning and brushing often with picante sauce mixture. Discard any remaining picante sauce mixture.
Tip: For even easier preparation, buy frozen large shrimp already peeled and deveined. Just thaw and use instead of fresh shrimp.