Whisk together orange juice, lime juice, olive oil, garlic, jalapeño, cilantro, cumin, chili powder, smoked paprika, oregano, salt, pepper, soy sauce, and vinegar until combined.
Pat the steak dry with paper towels, place in a large zip-lock bag or shallow dish, and pour the marinade over it. Seal and marinate in the refrigerator for at least 2 hours, ideally 4-8 hours, but no more than 12.
Remove steak from the refrigerator 30 minutes before cooking. Take it out of the marinade, pat dry with paper towels, and discard the used marinade. Let it sit at room temperature.
Preheat a charcoal or gas grill to 450-500°F, or heat a cast iron grill pan over high heat until smoking hot.
Place steak on the hottest part of the grill. For flank steak (1 inch thick), cook 4-5 minutes per side. For skirt steak (1/2 inch thick), cook 2-3 minutes per side. Cook until internal temperature reaches 125-130°F for medium-rare or 130-135°F for medium.
Transfer cooked steak to a cutting board, tent with foil, and let rest for 5-7 minutes. Slice thinly against the grain at a slight angle and serve with optional lime wedges.