In heavy-duty resealable food-storage plastic bag, place all ingredients except beef. Add beef; seal bag and turn to coat beef. Refrigerate at least 4 hours but no longer than 24 hours to marinate.
Heat gas or charcoal grill. Remove beef from marinade; discard marinade.
Place beef on grill. Cover grill; cook over hot heat about 10 minutes, turning once, until slightly pink when cut in center. Let stand 5 minutes. To serve, cut across grain into thin slices.