Rosemary-Balsamic Sirloin Tip Steak with Fall Vegetables

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This easy recipe for balsamic rosemary steak tips with Fall vegetables is perfect for chilly weeknights. The perfect balance of sweet, sour, and spicy flavors will have you begging for more!

steak tips, butternut squash, and Brussels sprouts in a skillet

Remember that steak marinade recipe I shared a few days ago? Today, I’m showing you one of my favorite ways to use it – in an easy skillet recipe with fall vegetables. 

Steak tips, sometimes called steak bites, are great for weeknight dinners. Since the pieces of steak are so small, they cook really quickly. It only takes a few minutes to char the outside but leave the center a beautiful medium to medium-rare. 

The marinade soaks into the meat, making it really tender and flavorful. The sugars in the marinade caramelize as the steak cooks, giving you that gorgeous char. Yum! 

For this healthy steak tips recipe, I paired rosemary balsamic steak tips with butternut squash and Brussels sprouts. This is such a great, cozy autumn steak recipe and I love that cooking everything in one pot makes for easy clean up.

If you have leftovers, the steak and vegetables are also great on a salad with this balsamic steak salad dressing.

rosemary-balsamic marinaded steak tips with butternut squash and Brussles sprouts on a plate

What is sirloin tip steak?

Sirloin tip steak is a lean, boneless cut of meat that comes from the rump. It can be purchased as a whole steak or cut into bite-sized steak tips. I usually buy a whole steak and cut it into bites myself.

Are sirloin tips tender?

Sirloin tip steak is usually really affordable, which makes it a great option.  But, because it’s so lean, it can be tough.

The best beef sirloin tip steak recipes will have you marinate it and cook it quickly over high heat. If you marinate steak tips overnight, they can become very tender! I love this steak marinade, flavored with balsamic vinegar, soy sauce, brown sugar, and a touch of rosemary. 

What is the best way to cook sirloin tip steak?

I usually marinate my steak tips and then use them in a stir fry or skillet meal like this one. It’s also great for grilled kebabs or skewers. I also love adding marinaded sirloin steak tips to my cauliflower fried rice. The Instant Pot is also a great method for cooking steak tips – you’ll love this recipe for pressure cooker steak tips with gravy.

Do these taste like Trader Joe’s Rosemary Beef Tips?

Yes! Balsamic rosemary beef steak tips are one of my favorite things to buy at Trader Joe’s and served as the inspiration for this recipe.

ingredients for sirloin steak tips mariade
steak and fall vegetables on a plate

Rosemary-Balsamic Sirloin Tip Steak with Fall Vegetables

This easy recipe for rosemary-balsamic steak tips with Fall vegetables is perfect for chilly weeknights. The perfect balance of sweet, sour, and spicy flavors will have you begging for more!
5 from 3 votes
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Keyword: sirloin tip steak, steak bites, steak tips recipe
Prep Time: 10 minutes
Cook Time: 25 minutes
Additional Time: 1 day
Total Time: 1 day 35 minutes
Servings: 4 servings
Calories: 453kcal


  • ½ cup olive oil
  • ¼ cup balsamic vinegar
  • 2 Tbsp brown sugar
  • 1 Tbsp low sodium soy sauce
  • 1 teaspoon fresh rosemary finely chopped
  • 2 cloves garlic minced
  • 1 large pinch crushed red pepper
  • Black pepper to taste
  • 1 and 1/2 pounds sirloin steak tips
  • 2 cups brussels sprouts halved
  • 1 cup cubes butternut squash
  • Salt and pepper
  • Chile flakes


  • Combine the oil, vinegar, sugar, soy sauce, rosemary, garlic, and red pepper in a large zip-top freezer bag. Season to taste with black pepper.
  • Add the steak tips. Seal the bag and give it a good shake to coat the steak with marinade. Refrigerate for 6-24 hours, turning occasionally.
  • Remove the steak from the marinade and pat dry. Discard any leftover marinade.
  • Heat 1 Tablespoon oil in a large skillet set over high heat. Add the steak in a single layer and cook 5-7 minutes, until the outside is charred and the center is cooked to your liking. Transfer the steak tips to a plate and tent with foil to keep the steak warm while it rests.
  • Add the squash to the skillet and cook, stirring occasionally, until tender and lightly browned – about 15 minutes. Add the Brussels sprouts and cook 5 minutes, until bright green and beginning to soften. Season to taste with salt, pepper, and chili flakes. Serve immediately.
Nutrition Facts
Rosemary-Balsamic Sirloin Tip Steak with Fall Vegetables
Amount Per Serving (1 g)
Calories 453 Calories from Fat 306
% Daily Value*
Fat 34g52%
Saturated Fat 4g25%
Polyunsaturated Fat 23g
Cholesterol 47mg16%
Sodium 257mg11%
Carbohydrates 21g7%
Fiber 4g17%
Sugar 11g12%
Protein 18g36%
* Percent Daily Values are based on a 2000 calorie diet.
Tried this recipe?Mention @HealthyDelish or tag #HealthyDelish!

Hi, I'm Lauren!

I'm a certified plant-based cook and enthusiastic omnivore who loves looking for creative ways to make weeknight meals more nutritious. I'm the author of Heathy Eating One Pot Cookbook and Healthy Meal Prep Slow Cooker Cookbook. I also blog at The Busy Foodie. Read more...


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1 thought on “Rosemary-Balsamic Sirloin Tip Steak with Fall Vegetables”

  1. Hi, great tips. I will definitley use these. I tried subscribing to your blog to get your future posts recieve to my email but it didn’t work. Could you please fix it for me. Thanks


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