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Score both sides of steak in a diamond pattern by making shallow diagonal cuts at 1-inch intervals. Place steak in a large resealable plastic bag set in a shallow dish. For marinade, in a small bowl whisk together 2 tablespoons balsamic vinegar, 1 tablespoon lemon juice, soy sauce, Worcestershire sauce, mustard, garlic and a pinch of black pepper. Pour marinade over the steak. Seal bag and turn to coat. Marinate in the refrigerator for 2 to 4 hours, turning bag occasionally.
In a medium bowl combine beets, remaining 2 tablespoons balsamic vinegar, 1 teaspoon olive oil and a pinch of black pepper; set aside.
Cut heart of romaine in half lengthwise (do not remove the core so the leaves remain attached). In a small bowl whisk together the remaining 1 tablespoon lemon juice and 1 teaspoon olive oil. Brush mixture on the romaine; set aside.
Drain steak, discarding marinade. Heat a grill pan over medium heat. Grill steak for 15 minutes for medium-rare doneness (145°F), turning once halfway through grilling. Cover and let stand. Grill romaine 5 minutes, turning once.
Place romaine on a serving platter and top with undrained beet mixture. Thinly slice steak diagonally across the grain and place on top of the salad. If desired, garnish with Parmesan to serve.