Heat oil in a small saucepan over medium-low heat; stir in garlic and cook 15 seconds or until garlic releases its fragrance. Remove from heat to cool slightly, then stir in orange juice, lime juice, TABASCO® Chipotle Sauce, salt, and cumin, and bring to a boil. Remove from heat and cool to room temperature.
Set aside 1/2 cup marinade to serve at the table; pour remainder over beef cubes and marinate at least 2 hours. Thread beef onto skewers alternately with vegetables; discard used marinade. Grill kabobs over medium heat 10 to 15 minutes or to desired doneness, turning occasionally. Serve with reserved marinade.
Makes 4 servings.