1 Cook steaks on a heated grill for approximately 7 to 10 minutes per side. 2  The amount of time needed to cook your steak to the desired level will depend on the thickness of your cut. 3  Meanwhile, whisk together all of the Teriyaki Sauce ingredients, through garlic, in a small saucepan.4  Place over medium heat. always try to reach the medium, pink in the center, stage. For these sirloin steaks, that takes about 7 minutes per side. It will differ for you depending on the thickness of your steak. Transfer the grilled steak to a cutting board and slice it thinly, against the grain.
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