Make the shrimp marinade: Combine the gochujang, honey, minced garlic cloves, soy sauce, and sesame oil in a bowl.
Reserve 2 tablespoons of the marinade for basting.
Toss the shrimp with the larger portion of the marinade and refrigerate for 30 minutes.
Meanwhile, prepare the dipping sauce: Whisk together the gochujang, lime juice, honey, sesame oil, minced garlic clove, and 1 tablespoon water until smooth. Add more water, as needed, and set aside.
Soak as many wooden skewers as you will need in water for 30 minutes.
Thread the marinated shrimp onto the skewers.
Preheat a cast-iron pan with 1 teaspoon oil over medium-high heat.
Cook the skewers for 2–3 minutes per side, until the shrimp are opaque and slightly charred. Baste with the remaining marinade halfway through cooking.
Garnish with scallions and sesame seeds.
Serve immediately with the gochujang-lime dipping sauce.