Add garlic cloves, oregano, basil, parsley, rosemary, salt, olive oil, balsamic vinegar, Worcestershire sauce and pepper to a food processor and chop to combine.

Pour this mixture into a gallon bag along with the steaks and let marinade overnight (or for at least 6 hours). Let meat come to room temperature before grilling.

Preheat the grill to medium-high heat (or a grill pan to medium-high heat). Lightly oil the grate or pan.

Spread half the herb mixture onto one side of each steak and grill for 7 minutes. Then, turn over and coat the reserve herb mixture onto the other side of the steak and cook for 7 minutes or until preferred meat doneness is reached.