Brown meat in oil in batches in a large skillet over medium-high heat, about 5 minutes per batch. Transfer meat to a paper-towel lined plate.
Brown kielbasa in same skillet, 3 minutes per batch. Transfer to a paper-towel lined plate.
Deglaze skillet with orange juice, scraping up brown bits on bottom of pan; set aside.
Combine onions, tomatoes, beans, garlic, and chili powder in a 4 to 6 quart slow cooker. Stir in browned meats and deglazing liquid. Cover slow cooker; cook on high setting until steak is fork tender, 4 hours.
Add vinegar and season with salt and pepper.
Garnish each serving of stew with jalapeno slices, orange wedges and zest.