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Trim fat from steak. Score both sides of flank steak in a diamond pattern. Place steak in a resealable plastic bag set in a shallow dish. For marinade, in a small bowl combine soy sauce, brown sugar, oil, ginger, and garlic. Pour marinade over steak. Seal bag; turn to coat steak. Marinate in the refrigerator for 6 to 24 hours, turning bag occasionally. Drain steak, discarding marinade.
For a charcoal grill, place steak on the grill rack directly over medium coals. Grill, uncovered, for 17 to 21 minutes for medium (160°F), turning once halfway through grilling. (For a gas grill, preheat grill. Reduce heat to medium. Place steak on grill rack over heat. Cover and grill as above.)
To serve, thinly slice steak diagonally across the grain. Arrange steak slices on top of bok choy leaves and sprinkle with sesame seeds and green onion.