In a medium bowl, whisk together orange juice, lime juice, soy sauce, olive oil, garlic, cilantro, cumin, chili powder, salt, and pepper.
Place the steak in a large resealable plastic bag or shallow dish. Pour the marinade over the meat, ensuring it’s fully coated. Seal and refrigerate for at least 2 hours or overnight for best flavor.
Preheat an outdoor grill or indoor grill pan to high heat.
Remove the steak from the marinade and shake off excess. Grill the steak for 5-7 minutes per side, depending on thickness and desired doneness.
Remove from heat and let rest for 5 minutes before slicing against the grain. Serve hot with your favorite sides like rice, tortillas, or grilled veggies.