Cook and drain vermicelli as directed on package. While vermicelli is cooking, heat oil in 10-inch skillet over medium heat. Cook garlic and onion in oil 2 to 3 minutes, stirring frequently, until onion is crisp-tender. Stir in zucchini, yellow squash and salt. Cook 2 to 3 minutes, stirring frequently, just until squash is tender; remove vegetables from skillet.
Add shrimp to skillet. Cook and stir 1 to 2 minutes or until shrimp are pink and firm. Meanwhile heat marinara sauce in 1-quart saucepan over medium heat until hot.
Divide vermicelli among 4 bowls; toss each serving with about 2 tablespoons marinara sauce. Top with vegetables and shrimp. Drizzle with remaining marinara sauce. Sprinkle with basil.