It looks like conversion of 3D models saved in STEP product data files (.stp, .step) to VRML format (.vrml, .wrl) is possible and can be done in several CAD/3D modeling programs as well as dedicated conversion software like CrossManager or similar.
Convert ISO-10303 STEP product data to VRML Worlds 3D graphics.
We found 3 software records in the database related to .stp to .wrl file format conversion.
Microsoft Windows software - convert stp to wrl on Windows
A CAD converter with huge format support
Convert from stp file format
The tables with software actions are a good pointer for what a certain program does with various file types and often may give users a good hint how to perform certain file conversion, for example the above-mentioned stp to wrl. However, it is not perfect and sometimes can show results which are not really usable because of how certain programs work with files and the possible conversion is thus actually not possible at all.
A 3D CAD translation softwate
A 3D product data optimalization software