Combine vinegar, soy sauce, lemon juice, sugar, cilantro and oil. Mix well. After cutting wild-caught Maine Lobster Tails in half, from the head pull the meat towards the tail, stopping at the tail. Lay the meat back on the shell. Lay out tails and brush with vinaigrette. Season with salt and pepper to taste.
Start grilling with meat side down, flipping over onto shell side. Cook evenly until meat is white.