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Trim fat from steak. With the tip of a paring knife, make small slits in steak; insert half of the garlic into slits. Wrap steak in plastic wrap; chill for 30 minutes. Sprinkle with salt and pepper.
Meanwhile, for relish, in a large nonstick skillet cook onions and remaining garlic in hot oil over medium heat 5 to 10 minutes or until onions are golden, stirring occasionally. Stir in vinegar and honey. Stir in nectarine and the snipped mint; heat through.
Preheat indoor electric grill. Place steaks on the grill rack. If using a covered grill, close lid. Grill until steaks are desired doneness. (For a covered grill, allow 4 to 6 minutes for medium rare (145°F) or 6 to 8 minutes for medium (160°F). For an uncovered grill, allow 8 to 12 minutes for medium rare (145°F) or 12 to 15 minutes for medium (160°F), turning once halfway through grilling.) Serve the steaks with relish. If desired, garnish with mint sprigs.