Many dance websites offer diagrams of Waltz steps, including Dancetv.com and BallroomDancers.com. Most begin with the Box Step and progress to more complicated steps. Diagrams come with written instructions.
Dancetv.com offers detailed diagrams of many Waltz steps, with each step shown on individual pages. The site also includes tips and terms for new dancers.
BallroomDancers.com not only offers diagrams, but shows dancers performing the steps in short videos. The site breaks the steps down, explaining both dancer's responsibilities and what the step is preceded and followed by. Five complete Waltz dances complete the lessons.
Waltsballs.org provides in-depth directions for many steps. Each step includes a printable diagram.