In a medium frying pan over low heat, cook garlic in olive oil, stirring often, until golden, about 3 minutes. Drain garlic on paper towels; save oil for other uses.
Preheat oven to broil. Combine vinegar and soy sauce. Lay steaks flat; using a paring knife, cut a 2-in.-wide pocket in the side of each steak. Spoon 1/4 of garlic into each pocket. Generously sprinkle steaks with salt and pepper.
Place steaks on broiler pan and spoon 1 tbsp. vinegar mixture over each. Cook steaks 4 in. from heat, turning once, 5 to 7 minutes total for medium-rare (cut to test). Serve with remaining vinegar sauce.
Note: Nutritional analysis is per serving.