Courtesy of Kikkoman.
In a resealable plastic bag, combine the soy sauce, vinegar, olive oil and rosemary. Add the steaks, seal the bag and refrigerate overnight, turning the bag several times.
Preheat a grill or grill pan to high heat. Remove the steaks from the plastic bag and place the steaks directly on the grill. Cook for about 5 minutes on both sides for medium-rare, or until desired doneness.
Remove from the grill, sprinkle with black pepper and allow to rest under loosely fitted aluminum foil for 10 minutes.