Prepare red salsa by placing roasted vegetables, white onion, garlic, cilantro, stock and salt in blender. Blend until smooth. Set aside.
Heat 2 teaspoon canola oil in medium non-stick skillet over medium-high heat; sauté onion and garlic until tender, about 2 to 3 minutes; stirring constantly.
Add zucchini and cook until just about softened, about 2 minutes. Then add the shrimp, cumin, and pepper, and grill until shrimp is red and cooked through, 4 to 5 minutes; stirring frequently. Remove from heat.
Warm tortillas for 10 to 15 seconds on each side in an ungreased pan.
Assemble the tacos by spooning shrimp & zucchini mixture onto the tortillas. Top with red salsa.