Preheat the grill to high heat.
Combine olive oil, minced garlic, balsamic vinegar, salt, and pepper in a bowl. Brush both sides of each kangaroo steak with this mixture using tongs. Grill for 2-3 minutes on one side or until grill marks appear, turn the meat over without losing it onto its other side (it will not fall apart because they are very lean). Grill an additional 1 to 2 more minutes.
Remove from heat and let rest for a few minutes before serving.