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If using flank steak, score both sides of steak in a diamond pattern by making shallow diagonal cuts at 1-inch intervals. Sprinkle with salt and pepper.
Place steak on the rack of an uncovered grill directly over medium coals. Grill until medium doneness (160°F), turning once halfway through grilling. Allow 17 to 21 minutes for flank steak or 18 to 22 minutes for top sirloin steak. Thinly slice steak diagonally across the grain.
In a small bowl, whisk together lime juice, oil, cilantro, honey and garlic.
To serve, divide romaine among six dinner plates. Top with steak slices, jicama, mango and red onion. Drizzle the dressing over salads.