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In a large shallow bowl or casserole dish, combine the marinade ingredients: lime juice, orange juice, soy sauce, olive oil, chopped cilantro, garlic, chili powder, cumin, and salt. Place Flank Steak into the marinade and turn several times to coat.
Cover with plastic wrap and marinate in the refrigerator for at least 6 hours and preferably overnight. Turn the steak once while marinating.
Preheat the grill to medium-high heat. Place marinated steak onto the hot grill and cook 3-5 minutes per side, flipping once or until the steak has reached the desired doneness (145˚F for medium-rare and 160˚F for medium doneness).
Remove from the grill, tent with foil, and rest 5-10 minutes then thinly slice against the grain.