1. In a large resealable plastic bag, combine soy sauce, balsamic vinegar, Worcestershire sauce, Dijon mustard, lemon juice, pepper and minced garlic. Shake to mix the ingredients.
2. Add steaks to the bag, squeeze out excess air, seal, and marinate in the refrigerator at least 2 hours (the longer the better). Remove them from the refrigerator about 30 minutes before cooking (to allow to come to room temperature, omitting this step will make your steaks tougher).
3. Heat a heavy-bottomed frying pan over high heat until very hot (if it starts to smoke, take it off the heat to slightly cool).
4. Remove the steaks from the marinade, shake off excess (you can lightly pat dry them with paper towels, this will help to get a more consistent and even sear). Discard the remaining marinade. Coat the steaks with vegetable oil place in the pan.
5. Cook undisturbed (DO NOT move the steaks, DO NOT shake the pan, just leave it alone, we need to get a good sear which will lock in the meat's juices) for 4-5 minutes (depending on the thickness of your meat).
6. Flip the steaks (I use tongs, do not poke them with a fork, the juices may run out) and cook another 4-5 minutes (for medium rare, if you prefer medium, add a minute for each side).
7. Allow to rest on a plate for 5 minutes (high heat makes muscle proteins in the meat to contract, pushing juices toward the center. Resting time allows the juices to spread out evenly.) The steaks will continue to cook slightly after you remove them from the pan, so make sure you do this right before it's done to your liking. Enjoy!