Bring water and quinoa to a boil, reduce heat to low, cover, and simmer until water is absorbed and quinoa is tender, 15-20 minutes. Fluff with fork and cover until ready to serve.
While quinoa is cooking, heat a large nonstick frying pan over medium-high heat. Add minced garlic and cook, stirring, 30 seconds. Add peeled shrimp and snow peas. If your shrimp is frozen there is no need to add water. If it is thawed and raw, then add 1 tablespoon of water. Place a lid on the skillet and let shrimp and peas steam just until the shrimp is pink, about 3 -5 minutes.
Add pesto and lemon juice and cook until warmed and shrimp is done, about 1 minute. Serve over quinoa.