Gather all your ingredients and whisk them together in a mixing bowl or shake them in a jar. The combination of balsamic vinegar, olive oil, Worcestershire sauce, and Dijon mustard creates the base of the marinade, while garlic and herbs add depth and aroma.
Pour the marinade into a resealable plastic bag or a shallow dish. Place your steak in the marinade, ensuring it’s fully coated. This step is all about infusing the meat with robust flavors while the acidic components tenderize it. Marinate the steak in the refrigerator for at least 1 hour, or up to 4 hours for tougher cuts.
While the steak marinates, preheat your grill, grill pan, or broiler. A hot cooking surface is key to achieving that beautiful caramelized crust. Lightly grease the grill with oil to prevent sticking.
Remove the steak from the marinade, letting any excess liquid drip off. Discard the used marinade. Place the steak on the hot grill and cook for about 4-7 minutes per side, depending on your preferred level of doneness. Use a thermometer to check the steak’s internal temperature; for medium-rare, aim for 145°F, while 160°F is ideal for medium.
Once the steak is done, transfer it to a plate and cover loosely with foil. Allow it to rest for 5 minutes to lock in its juices. When ready, slice the steak against the grain for the most tender bites and serve with your favorite sides.