Whisk together soy sauce, brown sugar or honey, oil, garlic cloves, ginger, rice vinegar or lemon juice, sesame oil, and black pepper
Pour marinade over beef and seal
Massage the beef to coat evenly with marinade
Marinate for 30 minutes to 12 hours
Sear or grill beef over high heat until browned and glossy
Garnish with sesame seeds if desired