Steinberg wrote a best-selling book with Michael D'Orso, "Winning with Integrity: Getting What You Want Without Selling Your Soul", published by Three Rivers Press in October 1999. The book provides readers insight on how to improve their life through non-confrontational negotiating. The majority of the proceeds raised on his 1999 book tour were donated to the Junior Achievement Educational Foundation. He has also penned the foreword in "Pray Ball! The Spiritual Insights of a Jewish Sports Fan". His book "The Agent: My 40-Year Career Making Deals and Changing the Game" was published in 2014.