1. In a mixing bowl, combine soy sauce, olive oil, lemon juice, minced garlic, Worcestershire sauce, and black pepper.
2. Place steak tips in a resealable plastic bag or shallow dish. Pour marinade over the steak tips, ensuring they are well coated. Seal the bag or cover the dish and refrigerate for at least 1 hour, or overnight for best results.
3. Preheat grill or skillet to medium-high heat. Remove steak tips from marinade and discard the marinade.
4. Grill or cook steak tips for about 4-5 minutes per side, or until desired doneness is reached.
5. Let the steak tips rest for a few minutes before serving. Enjoy!