What do you use to get the vegetables out after steaming?
I imagine you are asking about steamer baskets like this:


I think most people just reach in with an oven mitt or pot holder, and lift it out with our hand.  This particular image has a ring, but some have a knob to make gripping easier.

You can also lift out the food items themselves with tongs, and then wait until the steamer assembly cools and simply take it out with your hands.

If you are talking about oriental style steamers, traditionally used with a wok:


Again, just a tea towel or oven mitt is needed.  The bamboo ones don't tend to hold as much heat, but I would certainly not pick up the metal variant with a bare hand right after steaming.