Mix steak sauce, orange juice and sesame oil until well blended.
Remove 1/4 cup of the steak sauce mixture for later use.
Pour remaining steak sauce mixture over steak in large resealable plastic bag; seal bag. Turn bag over several times to evenly coat steak. Refrigerate 30 min. to marinate.
Preheat grill to medium heat.
Remove steak from bag; discard bag and marinade. Grill steak 13 to 16 min. for medium-rare to medium doneness, turning occasionally.
Remove from grill; cover with foil to keep warm.
Let stand 10 min.
Cut steak across the grain into thin strips.
Place evenly in centers of lettuce leaves; top with vegetables and bean sprouts.
Roll up.
Serve with the reserved 1/4 cup steak sauce mixture.