In a medium bowl, combine lime juice, orange juice, and olive oil. Let sit for a minute while prepping spices. This helps flavors bloom.
Stir in minced garlic, soy sauce, cumin, chili powder, paprika, black pepper, and salt. Mix until fully incorporated.
Fold in chopped cilantro. Place steak in a resealable bag or shallow dish and pour the marinade over it. Massage gently to coat evenly.
Seal the bag or cover the dish. Refrigerate for 2-6 hours (up to 12 hours for thicker cuts).
Pat the steak dry. Grill or pan-sear over high heat for 3-5 minutes per side until desired doneness.
Slice against the grain and serve with lime wedges, cilantro, and your favorite sides like Mexican rice, tacos, or burrito bowls.