Place oil and garlic in a large nonstick skillet over medium heat; cook 4 minutes or until garlic is lightly browned, stirring occasionally. Remove garlic with a slotted spoon, and discard. Increase heat to medium-high.
Sprinkle steak evenly with salt and peppers. Add steak to pan; sauté 1 minute or until desired degree of doneness. Transfer steak to a large bowl. Add arugula to bowl; toss well.
Wipe pan dry with a paper towel. Coat pan with cooking spray. Reduce heat to medium. Add shallots and balsamic vinegar to pan; cook 2 minutes or until shallots are soft, stirring occasionally. Add nectarine slices to pan; cook 30 seconds, tossing to coat. Add nectarine mixture and juice to steak mixture; toss gently. Serve with cheese.