Bring a large pot of salted water to boil and cook the fettuccine according to package directions until al dente. Reserve 1 cup pasta water before draining.
While the pasta cooks, heat olive oil in a large non-stick pan over medium-high heat. Add the asparagus, onion, and garlic, sautéing until the vegetables are tender-crisp, about 5 minutes. (The asparagus should still have some bite - we're not making ndolé here, mes amis!)
Add the shrimp, oregano, and red pepper flakes to the pan. Cook, stirring frequently, until the shrimp turn pink and are just cooked through, about 3-4 minutes.
Pour in the orange juice and add the lemon zest, stirring to combine and letting it bubble for a minute.
Using a fork, coarsely mash about one-quarter of the navy beans right in the can, then add all the beans to the skillet.
Cook the bean mixture over medium heat until warmed through, about 3-5 minutes, stirring frequently. If the mixture seems too thick, add a splash of the reserved pasta water.
Season with salt to taste, then toss with the drained fettuccine. Serve immediately with lemon wedges on the side.
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