In a bowl, combine peanut butter, hot water, 1 tablespoon soy sauce, lemon juice, and 1/2 teaspoon sesame oil. Set aside. In a medium bowl, combine 1 tablespoon soy sauce, vegetable oil, ginger, sugar, and 1/2 teaspoon sesame oil.
Mix in beef. Marinate 5 minutes. Thread strips of beef onto skewers, and grill for 1 to 2 minutes on each side. Serve with peanut sauce and steamed vegetables.