Peel and devein shrimp, leaving tails on. In a large resealable plastic bag, combine the hoisin sauce, 2 tablespoons oil, 2 tablespoons lemon juice, hot sauce and cumin. Add the shrimp; seal bag and turn to coat. Refrigerate for up to 30 minutes. Drain and discard marinade.
Thread shrimp on four metal or soaked wooden skewers. Using long-handled tongs, moisten a paper towel with cooking oil and lightly coat the grill rack. Brush peach halves with 1 tablespoon oil.
Grill shrimp and peaches, covered, over medium heat or broil 4 in. from the heat for 6-8 minutes or until shrimp turn pink, turning once.
In a large bowl, combine salt with the remaining oil and lemon juice. Add the arugula and cilantro; toss to coat. Divide among four plates. Top with peaches, shrimp and goat cheese. Squeeze lemon over salads.