In small bowl, mix aioli ingredients until well blended.
Heat 12-inch nonstick skillet over medium-high heat. Add 2 teaspoons oil; tilt skillet to lightly coat bottom. Add shrimp; sprinkle evenly with seafood seasoning. Cook 3 to 5 minutes, stirring frequently, until shrimp are pink.
To serve, place shrimp and any cooking juices on serving platter. Arrange sprigs of rosemary and lemon wedges on platter. Serve with aioli and if desired, toothpicks.