Cook noodles in large saucepan as directed on package, omitting salt and adding broccoli to the boiling water for the last 5 min. Meanwhile, cook VELVEETA, soup and sour cream in separate saucepan on low heat 8 min. or until VELVEETA is completely melted and mixture is well blended, stirring occasionally.
Drain pasta mixture; place in 13x9-inch baking dish. Top with shrimp.