In medium bowl, combine soy sauce, lime juice, minced cilantro, brown sugar, jalapeno, garlic, grated ginger and sesame oil. Reserve 4 tablespoons soy mixture, set aside.
Put remainder of soy mixture with tenderloin in a self-sealing plastic bag. Refrigerate for 30 minutes or as long as overnight.
Prepare grill with medium-hot fire.
Remove pork from marinade; discarding marinade. Grill 8 to 10 minutes per side or until meat thermometer inserted in thickest part reads 155 degrees F. (total time about 20 to 25 minutes)
Brush vegetables with reserved soy mixture and grill 4 to 5 minutes per side or until tender and starting to brown.
To serve, slice tenderloin into 3/4-inch slices. Fan slices around outside edge of serving platter; place grilled vegetables in center. Garnish with fresh cilantro, if desired.