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Finely shred 2 teaspoons zest from the oranges. Combine orange zest, fennel seeds, peppercorns and salt in a small bowl. Sprinkle mixture evenly over beef.
Heat 1 tablespoon oil in a large skillet over medium-high heat; add the meat. Reduce heat to medium. Cook for 7 to 9 minutes or until desired doneness (145°F for medium-rare or 160°F for medium), turning once halfway through cooking. Slice meat across the grain in thin slices.
Meanwhile, peel and section oranges. In a large bowl, combine orange sections, red onion, olives, parsley, lemon juice, the remaining 2 tablespoons oil, garlic and paprika. Stir gently to combine.
Add arugula to orange mixture; toss to combine. Divide arugula mixture among 4 dinner plates. Serve with sliced meat.