In a medium-sized mixing bowl, combine ½ cup of olive oil, ¼ cup soy sauce, ¼ cup balsamic vinegar, 3 minced garlic cloves, 1 tablespoon Dijon mustard, 2 tablespoons brown sugar, 1 teaspoon black pepper, and 1 teaspoon salt. Add 1 teaspoon dried rosemary and 1 tablespoon Worcestershire sauce to the mixture. Whisk vigorously for about 1 minute until fully blended, creating a fragrant marinade that will enhance your grilled steak.

Place your chosen steak cuts in a large zip-top bag or a shallow dish. Pour the freshly prepared grilled steak marinade over the meat, ensuring it’s well-coated. Seal the bag or cover the dish and refrigerate for at least 1 hour, though marinating for up to 6 hours or overnight will maximize flavor.

When you’re ready to grill, preheat your grill to high heat (450°F). This step is crucial for achieving a beautifully seared crust on your steak. Let the grill heat for about 10-15 minutes while you remove the steak from the marinade, allowing excess liquid to drip off.

Carefully place the marinated steak on the preheated grill grate. Grill each side for 4-5 minutes if you’re aiming for medium-rare, making sure to adjust the time based on the steak’s thickness and your preferred level of doneness.

Once grilled to perfection, remove the steak from the grill and let it rest on a cutting board for 5 minutes. This resting period is essential as it allows juices to redistribute, ensuring each slice remains juicy and tender.

After resting, slice the steak against the grain to reveal tender, juicy pieces. Serve immediately, enjoying it alongside your favorite sides.