Well...right now I'd say you've got a potentially embarrassing problem on your hands. 8) I had a 6 y/o, 1200lb Holstein nurse cow last summer that I tried halter breaking, which was quite an adventure. Yes, she did end up broke to lead, BUT, I made the mistake of putting myself (and her) in situations where she could (and did) run away from me before she was tame enough to try leading. The end result was that I had an animal who would drop her head and bolt for no apparent reason at any moment - and usually when I had people watching.
Always happens that way! Oh - and that was with two chains on, one under the jaw and one through the mouth, and she'd still bolt.
After that, I've decided that I have plenty of time to work with animals. Lots and lots of time being tied before I try leading...until the animal understands that there's no getting away from the rope. Ever.
Food-for-thought: tame and halter-broke go hand-in-hand. Hard to have a calf that's well trained and halter broke, but wilder than a March hare. Just doesn't happen very often.
You could try putting that steer in a smaller pen until realizes he can't get away with running, and you could work on getting him tamer. There's no substitute for spending time with them.
I like the pressure-and-release method of halter-breaking: pressure on the lead rope, animal takes one step, release the pressure (loose lead), there's his reward. More pressure, 'nuther step...
Now, all that looks great on paper, and it would sure be nice if it went that easily. LOL. Good luck. =)