In a small bowl, whisk together broth, orange juice, soy sauce, cornstarch and sugar; set aside.
Heat oil in wok or large nonstick skillet over medium-high heat. Add shrimp and stir-fry for 2 minutes. Add half of garlic and stir-fry, about 2 more minutes. Transfer to plate.
Add vegetables and cook, stirring, until heated through, about 3 minutes. Stir sauce again and add to pan, stirring until thickened, about 2 minutes. Return shrimp to pan and toss to coat. Serve with rice.