Preheat oven to 425 degrees. Halve, seed, and remove the white ribs from the bell pepper, then cut into 1-inch cubes. Zest and juice the orange. Quarter the zucchini lengthwise, then cut into 2-inch sticks. Trim and discard the bottom inch of the asparagus. Cut the potatoes into 1-inch cubes. Mince or grate the garlic.

Toss the zucchini, bell pepper, asparagus, and potatoes on a baking sheet and with 1 tablespoon olive oil and a pinch of salt and pepper. Place in the oven to roast for 20-25 minutes, until lightly caramelized.

Meanwhile, make the marinade: strip rosemary leaves off the sprig and finely chop. In a shallow dish, combine the balsamic vinegar, garlic, orange zest, orange juice, rosemary, 1 tablespoon olive oil, and a large pinch of salt and pepper. Reserve half this marinade, then add the steak to the dish and flip to coat in the marinade. Set aside for 5 minutes. HINT: This is a great time to get a jump-start on your cleanup!

Heat 1 tablespoon oil in a large pan over medium-high heat. Season steak with salt and pepper on both sides. Add the steak to the pan and cook 3-5 minutes per side, until cooked to desired doneness. Set the steak aside to rest for 5 minutes.

While the steak rests, remove the baking sheet from the oven and heat broiler to high or the oven to 500 degrees. Toss the vegetables with the reserved marinade return to the oven to broil for 2-3 minutes, until vegetables are glazed. HINT: Watch carefully, some broilers can get hotter than others!

Thinly slice the steak against the grain and serve with the glazed vegetables to the side. Enjoy!