Make the marinade: Combine lime juice, orange juice, garlic, jalapeno, cumin, chili powder, paprika, salt, pepper, and cilantro in a mixing bowl.
Coat the steak: Place the steak in the bowl with the marinade. Make sure each piece is evenly coated and allow the steak to marinate for at least 30 minutes.
Cook the steak: Heat your cast-iron skillet over high heat, remove the steak from the marinade, and pat dry to avoid steaming. Cook for 3-5 minutes per side for medium rare. Adjust time based on preferred doneness.
Rest: Allow the steak to rest for 5-10 minutes before chopping to lock in juice.
Prepare the toppings and serve: Chop the steak, onion, and cilantro, warm the tortillas, and assemble the street tacos.
