Combine the black pepper, salt, paprika, garlic powder, onion powder, rosemary, and cayenne in a small bowl. Rub on to all surfaces of the steak. Cover and refrigerate for 30 mintues to 2 hours. Remove and let sit out for 30 minutes at room temperature.
Add the Dijon, vinegar, vegetable oil, and crushed garlic to a mason jar with a lid and shake vigorously until emulsified.
Prepare your charcoal or gas barbecue grill. Place the steaks on the grill and brush with the marinade. Turn every 3-4 minutes, basting generously each time. The outside of the steaks will get dark and charred. .
Remove the steak from the grill to a large platter. Cover and let rest for 15 minutes before serving.