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Heat oil in large, non-stick skillet over medium-high heat. Add shrimp; season with Adobo. Cook, stirring occasionally, until shrimp turn pink on both sides, about 2 minutes; transfer shrimp to plate.
Add tomato sauce, water, sofrito, garlic and Sazón to same skillet. Cook, stirring occasionally, until tomato mixture comes to a boil; reduce heat to medium-low. Simmer, stirring occasionally, until tomato mixture thickens slightly, about 5 minutes. Return shrimp to skillet. Cook, stirring occasionally, until shrimp are completely coated in tomato sauce mixture and are cooked through, about 3 minutes more. Stir in 3 tbsp. cilantro. Remove shrimp from heat
Evenly divide shrimp mixture among heated plantain cups. Sprinkle with cilantro; serve immediately