During the 1992 college off-season, Steenkamp played for the
Boca Raton Sabres of the
USISL. In 1993, Steenkamp played for the amateur Club Boca Rotan. This brought him to the attention of the
Fort Lauderdale Strikers who signed him for the 1994 American Professional Soccer League season. He missed the first nine games of the season because of visa problems. Then, in July and August 1994, the Strikers sent him on loan to the
Carolina Vipers of the
Continental Indoor Soccer League. In 1995, he moved to the
Atlanta Ruckus. In October 1995, Steenkamp signed with the
Tampa Bay Terror of the
National Professional Soccer League. He was named to the 1995–1996 All Rookie Team. Steenkamp began the 1996 A-League season with the Ruckus, but was traded to the
Montreal Impact in June 1996 despite leading the team with nine goals. The Impact then sent him to the
Rochester Rhinos one day later in exchange for
Gustavo Romanello and
Gustavo Villagra. Steenkamp remained with the Rhinos until his retirement. However, he continued to play indoor soccer, signing with the
Buffalo Blizzard in January 1997 and played through the end of the season. In 2003, Steenkamp became an assistant coach with the Rhinos. ==Inaugural Member of Rochester Rhinos Hall of Fame==