Score the fat cap with a knife, making a crosshatch pattern. Season picanha steak with salt generously on both sides. Keep at room temperature for 45 minutes. Brush olive oil on the grill grates and preheat the grill to high (450-500 degrees on a gas grill) for about ten minutes before cooking
Sprinkle pepper on picanha steak. Slice steak into one-inch-thick strips. Fold the strips into C shapes and thread them onto skewers (2-3 should fit on each skewer). Sear for 4-5 minutes on each side, flipping only once with tongs
Check the temperature of the thickest piece of picanha with a digital thermometer to ensure doneness. If the steaks need more time, move them to a low-heat area of the grill, close the lid, and continue grilling for another 2-5 minutes
Remove steaks from the grill and rest at room temperature on a foil-tented plate for 5-10 minutes before serving