1.Lightly Oil The Grill Rack And Heat The Grill To Medium. Grill The Steak For 20 Minutes For Medium-Rare Or To Desired Doneness, Turning The Steak Over Halfway Through Cooking And Brushing Often With 1 Cup Picante Sauce. 2.Let Stand For 10 Minutes Before Slicing. Serve With Additional Picante Sauce.