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Whisk olive oil, balsamic vinegar, Worcestershire sauce, and garlic in a small bowl. Season with salt and pepper to taste. Add steaks to a gallon-sized plastic bag and pour in the marinade. Place in the refrigerator for about 30 minutes to 1 hour.
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Season bell peppers, asparagus, and zucchini with garlic powder, and salt & pepper. Set aside.
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Turn grill to medium to high heat, and make sure that the grates are well-oiled. Place fruits and vegetables onto grill, rotating them frequently to prevent overcooking. Grill fruit for about 2 to 3 minutes per side, or until heated through and grill marks appear, and remove them from the grill. Grill vegetables for about 15 minutes, or until tender, and remove them from the grill.
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Turn grill down to medium heat, and place steaks on the grill. When cooking beef, use medium heat to avoid overcooking and charring. Turn beef only 1 to 2 times for even cooking and browning and cook for about 10-15 minutes.
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*For best results, cook steaks to 145°F - 160°F for medium-rare to medium doneness. After cooking, let steaks rest before serving.