Choose a flank steak, skirt steak, or flap steak
Trim excess fat if needed
Mix a marinade with lime juice, orange juice, garlic, cilantro, olive oil, cumin, chili powder, salt, and pepper
Place the steak in the marinade
Marinate in the refrigerator for 2 to 8 hours
Remove the steak from the marinade
Pat the steak dry
Preheat a grill, grill pan, or cast-iron skillet over high heat
Lightly oil the cooking surface
Cook the steak for 3 to 5 minutes per side, depending on thickness
Check for desired doneness
Remove the steak from the heat
Rest the steak for 5 to 10 minutes
Slice thinly against the grain
Serve with tortillas, salsa, onions, and cilantro