Preheat the oven to 370°F degrees.
On a cutting board, cut vegetables into thin strips/pieces.
Slice flank steak in half to make it thinner, then cut into several strips.
In a medium bowl, add marinate ingredients and stir until well combined. Set aside about 1/4 cup marinade for brushing after baking.
Add steak strips to marinade and let sit for at least 20 minutes.
Once marinated, take a strip of steak and place it flat on a plate or cutting board. Add zucchini, 1 asparagus spear, carrots, bell pepper and kale. Roll it up and repeat until all steak has been used. If needed, you can use a toothpick to secure the rolls.
Sear the rolls in a nonstick skillet for about 1 minute.
Place the rolls on a backing rack and bake for 15 minutes.
Once cooked, set baked steak rolls on plate and brush with extra marinade.