In a freezer gallon size zip lock baggy, combine teriyaki marinade, onion, honey, orange juice, oil, garlic, rosemary, and pepper to taste; mix until blended.
Add oranges and steak to the zip lock bag, Place in refrigerator over night for marinating
OR place in freezer for later use.
Remove steak and oranges from marinade; discard marinade. Place steak on the grill and the oranges on top of the steak, over medium heat. Grill, uncovered, 17–21 minutes for medium rare to medium.
Once the steak is done, take it off the grill and let it sit for 5 minutes. Carve steak diagonally across the grain into thin slices; arrange on platter. Garnish with fresh orange slices and rosemary sprigs.