Add 2 cloves of the garlic and 2 tablespoons of the oil to a large skillet over medium-high heat until the garlic begins to sizzle and become fragrant.
Add the shrimp and 1 to 2 tablespoons of lemon juice, cooking quickly until the shrimp are opaque, about 5 minutes.
Meanwhile, rinse the cannellini beans under cold water.
When the shrimp are done, remove them from the pan and set aside, tented with foil to keep warm.
Add the beans to the skillet with the parsley, the remaining clove of garlic, the remaining 1 tablespoon of olive oil, salt and pepper. Cook over medium heat until just heated through, about 3 minutes.
Serve the shrimp over the beans and garnish with lemon zest.