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In a small bowl, combine rosemary, garlic, salt and black pepper. Sprinkle mixture evenly over all sides of steaks; rub in with your fingers. Let stand at room temperature for 20 minutes.
Arrange medium-hot coals around a drip pan in a charcoal grill. Place steaks on grill rack directly over coals (not over pan). Grill for about 4 minutes or until grill marks are visible, turning once to mark both sides. (For a gas grill, preheat one side of grill; leave burners off on the other side. Reduce heat to medium-high. Place steaks on grill rack over lit burner. Cover and grill as above.)
Turn steaks over again, turning meat 90°F. Grill about 2 minutes more or until diamond-shape grill marks are visible. Turn over and grill about 2 minutes more or until diamond-shape grill marks are visible on second side.
Once cross marks have formed on each side, move steaks away from direct heat and place in a hanging basket or on unheated part of grill (not over coals or heat).
Cover and grill until desired doneness. Allow 4 to 8 minutes more for medium-rare (145°F) or 8 to 12 minutes more for medium (160°F). Serve immediately. If desired, sprinkle with lemon zest and/or garnish with rosemary sprigs.