In shallow glass dish or resealable plastic food-storage bag, mix all ingredients except beef. Add beef; turn to coat. Cover dish or seal bag. Refrigerate at least 8 hours or overnight, turning beef occasionally.
Heat coals or gas grill for direct heat. Remove beef from marinade; reserve marinade.
Cover and grill beef over medium heat 12 to 18 minutes, turning and brushing with marinade once or twice, until desired doneness. Discard any remaining marinade. To serve, cut beef across grain into slices.