Cauliflower: Cauliflower florets will steam on the stovetop in about six minutes. For microwave steaming, cook cauliflower for three to four minutes. Green Beans: Steam green beans on the stovetop for about five minutes. In the microwave, steam green beans for three to four minutes. Peas: Peas steamed on the stovetop take about three minutes. In the microwave, steam peas for one to two minutes.