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Place potatoes in a large pot and cover with cold salted water. Bring to a boil and reduce to a simmer. Cook until potatoes are just tender, about 10 minutes. Remove from the pot using a slotted spoon and set aside to cool.
Return the pot of water to a boil and add corn. Cook for 1 minute until bright yellow and then drain and set aside to cool.
In a food processor, combine arugula, parsley, oil, Worcestershire sauce, mustard, garlic, vinegar and 1/2 teaspoon of the salt. Process until the mixture resembles a smooth pesto; set aside.
Alternate potatoes, corn and steak on skewers. (If using wooden skewers, soak in water for 30 minutes before assembling.) Season kabobs with remaining salt.
Prepare a grill for medium-high heat cooking. Arrange kabobs on the grill and cook, turning occasionally until steak is cooked to your liking, about 6 minutes for medium-rare.
Alternatively, preheat the broiler and place the oven rack 6 inches below the heating element. Arrange kabobs on a baking sheet and broil for 3 to 4 minutes per side for medium-rare. Serve kabobs alongside steak sauce.