Preheat a grill on medium heat or an oven to 375 degrees.
Mix the orange juice, lime juice, Jerk seasoning, garlic, ginger, and cumin in a bowl and add in the meat. Season with salt and pepper. Set aside. Soak the wooden skewers in water for 10 minutes.
Thread the steak, bell peppers, onion, and mushrooms alternately onto the skewers.
In a pot of boiling water cook the rice noodles according to the directions on the package. Drain and toss the noodles with the beef marinade and chopped cilantro.
While the noodles are cooking, cook the skewers in the oven or grill turning occasionally until the vegetables are soft and the beef reaches the desired doneness using a thermometer (see below).
Serve the mango salsa (see recipe) over top of the skewers.