Balsamic Marinated Sirloin & Asparagus

1 1/4-pound boneless beef top sirloin steaks, cut 1-inch thick
1 pound fresh asparagus, trimmed
1/2 teaspoon salt
1/8 teaspoon pepper

Marinade Ingredients:

1/4 cup balsamic vinegar
2 tablespoons olive oil
1 tablespoon chopped fresh basil
1 1/2 teaspoons Dijon-style mustard
1 clove garlic, crushed
sugar substitute equal to 1 teaspoon

In small bowl, combine marinade ingredients. Place beef steak and 1/3-cup marinade in food-safe plastic bag; turn to coat. Close bag securely and marinate in refrigerator 15 minutes to 2 hours; turn occasionally. Cover and refrigerate remaining marinade.

1. Meanwhile in large skillet, bring 1 inch of water to a boil; add asparagus. Reduce heat to medium-low. Cover and cook 2 to 3 minutes or until crisp-tender. Drain. In shallow dish, combine asparagus and reserved marinade; turn to coat. Set aside.

2. Remove steak from marinade; discard marinade. Place steak on grid over medium, ash-covered coals. Grill, uncovered, 17 to 21 minutes for medium rare to medium doneness; turn occasionally. During last 3 minutes of grilling, arrange asparagus on grid around steak. Grill 3 minutes; turn once.

3. Season steak and asparagus with salt and pepper. Carve steak crosswise into slices; serve with asparagus. Makes 4 servings.