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Combine cilantro, olive oil, orange, limes, garlic, jalapenos, cumin, salt and pepper in a large bowl and stir. Taste and season with more salt if necessary.
Add the cubed steak and stir. Cover and refrigerate for 2-4 hours.
After the steak has been marinating, remove it from the fridge and let it rest for 30 minutes before cooking.
Meanwhile make the avocado salsa. Combine avocado, tomato, red onion, cilantro, lime juice and salt. Stir and set aside.
When it’s time to cook the steak, heat a large pan over medium high heat and add half of the steak — spaced evenly apart.
Let it cook on one side until browned then flip and repeat. When they’re cooked to your liking, place in a bowl and repeat for the second batch of raw steak.
To assemble the taco, either toast or warm your tortilla then add a few scoops of the carne asada mixture and top with the avocado salsa. Serve immediately.