1In small bowl, mix mustard, rosemary, pepper and garlic. Cover and let stand 30 minutes if desired.
2Heat gas or charcoal grill. Spread mustard mixture on both sides of beef.
3Carefully brush grill rack with vegetable oil. Place beef on grill over medium heat. Cook uncovered 1 minute on each side to seal in juices. Cover grill; cook 8 to 9 minutes longer for medium doneness, turning once.