Grate peel and squeeze 2 tablespoons juice from orange; reserve juice. Combine orange peel, cilantro, paprika, and ground red pepper, if desired, in small bowl. Place beef and 2 1/2 tablespoons cilantro mixture in food-safe plastic bag, coat evenly. Place remaining cilantro mixture and fruit in separate food-safe plastic bag; turn to coat. Close bags securely. Marinate beef and fruit in refrigerator 15 minutes to 2 hours.
Soak eight 9" bamboo skewers in water 10 minutes; drain. Thread beef onto four skewers. Thread fruit onto remaining four separate skewers.
Place kabobs on grid over medium, ash-covered coals. Grill beef kabobs, covered, 8 to 10 minutes (over medium heat on preheated gas grill, 9 to 11 minutes) for medium rare (145° F) to medium (160° F) doneness, turning occasionally. Grill fruit kabobs 5 to 7 minutes or until softened and beginning to brown, turning once.
Serve with beef with salt and pepper, as desired. Drizzle reserved orange juice over fruit kabobs.