In a wide shallow glass baking dish, scatter half of the orange slices, half of the onion slices and half of the garlic pieces. Sprinkle the steak all over with salt and pepper and put in the dish on top of the orange and onion slices. Scatter the remaining orange, onion and garlic over the steak and pour in the beer and soy sauce. Cover with plastic wrap and let marinate for 1 hour at room temperature or up to overnight in the refrigerator.
Preheat a grill to medium high. Remove the steak from the marinade; discard the marinade. Grill the steak to desired doneness, about 4 minutes per side for medium rare. Let rest 5 minutes before slicing.