In a small bowl, mix together the olive oil, minced garlic, chopped rosemary, chopped thyme, ground black pepper, and salt.
Rub the marinade all over the beef pieces, ensuring they are well coated.
Cover and refrigerate for at least 1 hour, or preferably overnight to let the flavors develop.
Preheat your grill to medium-high heat. If using a charcoal grill, ensure the coals are hot and glowing.
Place the marinated beef pieces on the grill.
Grill for about 4-6 minutes per side, or until the meat reaches your desired level of doneness. The cooking time will vary based on the thickness of the meat and the heat of the grill.
For a more authentic churrasco experience, you can use skewers and turn the meat occasionally.
Remove the meat from the grill and let it rest for a few minutes before slicing.
Enjoy your meal!