Combine first 6 ingredients in container of an electric blender; cover and process until smooth, stopping once to scrape down sides. Set aside half of juice mixture; pour remaining juice mixture into a heavy-duty, zip-top plastic bag. Add fish; seal bag, and shake until fish is well coated. Marinate in refrigerator 1 hour, turning bag occasionally.
Remove fish from marinade, discarding marinade. Snap off tough ends of asparagus. Remove scales from spears with a knife or vegetable peeler, if desired. Cut each spear diagonally into 4 slices.
Thread fish, asparagus, papaya, and next 3 ingredients onto 8 (12-inch) skewers. Coat grill rack with cooking spray; place on grill over medium-hot coals (350° to 400°). Place kabobs on rack; grill, covered, 5 minutes or until fish flakes easily when tested with a fork, turning once, and basting with reserved juice mixture. To serve, place 1 cup rice on each plate; sprinkle with orange zest, if desired. Top rice with kabobs.