In large resealable food-storage plastic bag, mix all ingredients except beef.
Score beef crosswise by making cuts 1/2 inch apart and 1/4 inch deep (beef will absorb more of the marinade and cook more evenly). Place beef in bag; seal bag and turn to coat. Refrigerate 2 hours to marinate, turning bag once after 1 hour.
Heat gas or charcoal grill. Remove beef from marinade; reserve marinade in 1-quart saucepan. Pat beef dry with paper towel. Place beef on grill over medium heat. Cover grill; cook 10 minutes. Turn beef; cover grill and cook 10 to 15 minutes longer for medium-rare (145°F). Cook 2 minutes longer for medium (160°F).
Meanwhile, heat reserved marinade to boiling over medium-high heat; boil 3 minutes, stirring frequently. Remove and discard garlic.
To serve, cut beef into slices; spoon sauce over beef.