In small bowl, combine all sauce ingredients; blend well. Set aside.
Heat oil in large skillet or wok over medium-high heat until hot. Gradually add green beans, cauliflower and carrots; cook and stir 5 minutes.
Add shrimp; cook and stir 3 to 4 minutes or until shrimp turns pink and vegetables are crisp-tender.
Stir in onions and sauce; cook until thickened and bubbly, stirring constantly.