In a zip-top bag, combine one-third of the garlic, the olive oil, a large pinch of salt and pepper, and the shrimp. Marinate for 1 hour in the refrigerator.
Meanwhile, add the remaining garlic, the orange juice and chipotle to a saucepot over medium heat. Bring to a boil and cook until reduced to a thin glaze, 10 to 13 minutes. Remove from the heat and let cool slightly.
Heat a grill pan over medium-high heat. Remove the shrimp from the marinade, letting the excess drip back into the bag; discard the marinade. Place the shrimp on the hot grill pan and cook until opaque on both sides and grill marks appear, about 2 minutes per side.
Remove the shrimp to a bowl, add the orange glaze, cilantro and lime juice, and toss to coat. Transfer to a serving platter and serve with baguette slices.