Peel shrimp; coat shrimp with cooking spray. Heat a nonstick skillet over medium heat; add shrimp, and cook 4 minutes or until shrimp are done, stirring constantly. Remove shrimp, and set aside.
Coat onion with cooking spray; increase heat to medium-high. Add onion, and cook 4 minutes or until lightly browned.
Whisk together milk and flour in a bowl. Add milk mixture, sugar, and next 4 ingredients to pan; cook 4 minutes or until mixture is slightly thickened, stirring constantly. Stir in shrimp, and cook until thoroughly heated. Stir peas into hot rice; serve shrimp over rice mixture. Garnish with peanuts and green onions.