I have a really cheap little steamer that lays flat in a pot. I put about an 1 or so water in the bottom, lay my veggies (fresh) on top, cook on medium, covered, and cook until a fork barely goes in. Broccoli, asparagus, green beans and carrots... colors turn bright and if they start to fade, they are going to be overcooked
For broccoli or asparagus, I melt butter and lemon juice in the microwave and pour it over when I put it in a serving platter, and heavy sprinkle with lemon pepper.