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In a bowl, combine soy sauce, brown sugar, sesame oil, minced garlic, grated ginger, rice vinegar, black pepper, and sesame seeds. Mix well until the sugar is dissolved.
Add the thinly sliced beef sirloin to the marinade, ensuring all pieces are coated. Cover and refrigerate for at least 30 minutes, or up to 2 hours for more flavor.
Preheat your grill or broiler to medium-high heat.
Thread the marinated beef onto the soaked skewers, leaving a little space between each piece for even cooking.
Place the skewers on the grill or under the broiler. Cook for about 2-3 minutes on each side, or until the beef is nicely charred and cooked to your liking.
In a small bowl, whisk together soy sauce, sesame oil, rice vinegar, minced garlic, sugar, sesame seeds, water, and red pepper flakes (if using) until well combined.
Remove skewers from the grill and let them rest for a couple of minutes. Serve hot with the garlic sesame dipping sauce on the side. Garnish with chopped green onions.