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Whisk together the soy sauce, olive oil, vinegar, Worcestershire sauce, honey, mustard, garlic, hot sauce and seasonings in a small bowl. Whisk until smooth.
Add the flank steak to a wide pan or into a large plastic baggie and pour the marinade over it. Be sure to cover the steak. Massage the marinade into the steak with your hands.
Marinate the flank steak for at least 1 hour, or overnight for more flavor penetration. You can marinate for 24 hours.
Heat a grill to medium-high heat and lightly oil the grates.
Remove the flank steak from the marinade and discard the marinade. Grill the flank steak for 3-4 minutes, then flip and grill another 3-5 minutes, or until done to your desired doneness. See below for temperatures.
Remove the flank steak from the grill and set onto a plate or cutting board. Cover with aluminum foil and let it rest for 10 minutes.
Slice against the grain and serve.