Steam whole Brussels sprouts for 6 to 8 minutes, and steam halved Brussels sprouts for 5 minutes. Although Martha Stewart recommends using a steaming basket, the sprouts can be positioned in the bottom of the pot, in the cooking water.
Martha Stewart suggests placing a steaming basket in the bottom of a large pot, adding water until it reaches the basket's base and bringing the water to a boil before adding salted Brussels sprouts. Stewart steams them for 6 to 8 minutes, until they're tender, tossing them halfway through.
Food Network chef Alton Brown cuts trimmed Brussels sprouts in half lengthwise, then he places them in a pot with 1/2 cup water and 1/4 teaspoon salt and brings the water to a boil. The sprouts are steamed for 5 minutes or until they're tender.