Combine soy sauce, balsamic vinegar, Worcestershire sauce, garlic, 2 tablespoons olive oil, and ¼ teaspoon black pepper in a large mixing bowl. Whisk until smooth.
Add beef to marinade and stir to combine. Cover and refrigerate for 20-30 minutes.
Meanwhile, preheat oven to 400°F.
To a large sheet pan, add onion, bell peppers, zucchini, mushrooms, tomatoes, the remaining 2 tablespoons olive oil, the remaining ¼ teaspoon pepper, and ¼ teaspoon salt. Toss to combine. Bake at 400°F for 10 minutes.
Remove the pan from the oven. Use a slotted spoon to place the marinated steak on the pan. Measure out 2 tablespoons of the remaining marinade to drizzle on top of the vegetables, discarding any additional leftover marinade, and give everything a good stir. Bake 10 minutes, or until steak is cooked to your liking and vegetables are tender.
Garnish with fresh chopped parsley, if desired. Serve over cooked rice or enjoy as-is.