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Mix all marinade ingredients together.
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Put beef chunks in a bowl and add in 3/4 of marinade to bowl, and let sit, stirring occasionally, for 1 hour.
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Put vegetables in another dish and add remaining marinade and let sit as well, also stirring occasionally.
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Meanwhile, soak wooden skewers in water for at least 20 minutes.
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Put meat and vegetables on skewers.
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Grill for 20 minutes, flipping occasionally.
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Serve on a bed of brown rice and sprinkle toasted sesame seeds over dish.