Remove the steak from the refrigerator 30 minutes before marinating. Pat completely dry with paper towels.
Score flank steak in a crosshatch pattern (1/4 inch deep) or pound skirt steak to an even 1/2 inch thickness.
Combine orange juice, lime juice, olive oil, garlic, cilantro, jalapeño, cumin, chili powder, smoked paprika, oregano, pepper, salt, onion powder, and soy sauce in a bowl. Whisk until emulsified.
Place steak in a zip-top bag or glass dish and pour marinade over it. Massage to coat thoroughly.
Refrigerate for at least 30 minutes (2-8 hours is ideal). Flip the bag halfway through.
Preheat grill or cast iron pan to high heat (450-500°F). Brush grates with high-smoke-point oil.
Remove steak from marinade, let excess drip off. Season both sides with additional salt.
Place steak on hot grill and cook undisturbed for 2-3 minutes to form a crust. Flip once and cook second side.
Cook to 130-135°F internal for medium-rare (3-4 minutes per side for flank steak, 2-3 minutes for skirt steak).
Remove steak to a cutting board and tent loosely with foil. Rest for 5-10 minutes.
Slice the steak thinly at a 45-degree angle against the grain (perpendicular to the muscle fibers).
Arrange on a platter and garnish with fresh lime wedges and cilantro. Serve immediately.