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Combine the soy sauce, olive oil, brown sugar, cider vinegar, Worcestershire sauce, mustard and pepper in a resealable bag; seal and shake to combine.
Reserve 2 tablespoons of the marinade for later use. Stir the garlic into the bag of marinade.
Add the steak and marinate for 2-24 hours.
Heat an outdoor grill or stove top grill pan to medium-high. Place the steak on the grill and cook for 5-6 minutes per side, depending on the thickness of your meat and the desired level of doneness.
Remove the meat from grill and cover with foil. Let stand for 5-10 minutes and then slice thinly against the grain with a very sharp knife. Drizzle with reserved marinade, then serve.